Tsuneo Yoshikawa
2021.06.06

Personal Data
Professor Emeritus, Kyoto University
Visiting Senior Researcher
Research Organization of Science and Engineering
Ritsumeikan University
Kusatsu, Shiga 525-8577, Japan
Phone: +81-77-561-5919
E-mail: tsuneo.yoshikawa@nifty.com
Web Page: http://tsuneo-yoshikawa.my.coocan.jp

Education
Bachelor of Engineering: March 1964
Department of Precision Machinery, Faculty of Engineering, Kyoto University
Master of Engineering: March 1966
Department of Precision Machinery, Graduate School of Engineering,
Kyoto University
Doctor of Engineering: September 1969 (degree awarded)
Graduate Student in Doctor Course (April 1966-March 1969)
Department of Applied Mathematics and Physics, Graduate School ofEngineering, Kyoto University

Work History
Assistant Professor (April 1969 - May 1970)
Department of Applied Mathematics and Physics, Faculty of Engineering,
Kyoto University
Associate Professor (June 1970 ― July 1986)
Automation Research Laboratory, Faculty of Engineering, Kyoto University
Professor (July 1986 ― May 1989)
Automation Research Laboratory, Faculty of Engineering, Kyoto University
Professor (June 1989 ― May 1991)
Department of Applied Systems Science, Faculty of Engineering,Kyoto University
Professor (May 1991 ― March 1994)
Department of Mechanical Engineering, Faculty of Engineering,
Kyoto University
Professor (April 1994―March 2005)
Department of Mechanical Engineering, Graduate School of Engineering,
Kyoto University
Professor Emeritus (April 2005)
Kyoto University
Professor (April 2005―March 2012)
Department of Human and Computer Intelligence, College of Information
Science and Engineering, Ritsumeikan University

Concurrent Appointments
NRC Postdoctoral Resident Research Associate (December 1973―September 1975, andMay 1977―June 1977)
Marshall Space Flight Center, NASA, USA
Associate Professor (January 1982 ― March 1987)
Institute of Space and Astronautical Science
Professor (April 1987 ― March 1988)
Institute of Space and Astronautical ScienceAwards and Honors
1. Best Paper Award (August 1975)
Society of Instruments and Control Engineers“Minimal-Order Optimal Fi1ters for Linear Discrete-Time Systems,” Tsuneo
Yoshikawa, Trans. Society of Instrument and Control Engineers, vol.9, no.5,
pp. 588-594 (in Japanese), (1973).
2. Sawaragi Memorial Best Paper Award (May 1982)
Japan Automatic Control Society“Decentralized Control of Moving Vehicles on loop Line,” Tsuneo Yoshikawa,
Hitoshi 0ka, Tomio Yoshikawa, and Hideo Hanafusa, Systems and Control,
vol.24, no.10, pp.690-698 (in Japanese), 1980
3. Best Paper Award (July 1985)
Society of Instruments and Control Engineers“Analysis of redundancy of Articulated Manipulators and its Application to Tasks
with Priority,” H. Hanafusa, T. Yoshikawa and Y. Nakamura, Trans. Society ofInstrument and Control Engineers, Vol. 19, pp. 421-426 (in Japanese), 1983.
4. Sawaragi Memorial Best Paper Award (May 1991)
Society of Systems, Control and Information Engineers
Tsuneo Yoshikawa, Toshiharu Sugie, and Junichi Imura: Digital Robust Control of
Nonlinear Mechanical Systems, Transactions of the Institute of Systems, Control andInformation Engineers, vol.3, no.9, pp.298-309 (in Japanese) (1990)
5. Best Paper Award (July 1991)
Society of Instruments and Control Engineers“Maneuverability of Master-Slave Telemanipulation Systems,” Yasuyoshi Yokokohji
and Tsuneo Yoshikawa, Trans. Society of Instrument and Control Engineers, vol.26,
no.5, pp.572-579 (in Japanese), (1990)
6. Best Paper Award, Takeda Award (July 1994)
Society of Instruments and Control Engineers“Internal Stabi1ity and L2 Gain of Non1inear Systems – Derivation of Bounded Real
Condition -,” Junichi Imura, Toshiharu Sugie, and Tsuneo Yoshikawa, Trans. Societyof Instrument and Control Engineers, vol.29, no.6, pp.659-667 (in Japanese) (1993)
7. Best Paper Award (November 1996)
JDSMC, ASME
Tsuneo Yoshikawa, Yasuyoshi Yokokohji, Tomoharu Matsumoto, and Xin-Zhi Zheng:
Display of Feel for the Manipulation of Dynamic Virtual Objects, ASME J. Dynamic
Systems, Measurement, and Control, Vol. 117, No. 4, pp. 554-558 (1995)
8. Best Conference Paper Award (April 1997)
ICRA, IEEE
Tsuneo Yoshikawa, Akihiro Nagura: A Touch and Force Display System for Haptic
Interface, Proceedings 1997 IEEE International Conference on Robotics andAutomation, Vol.3, pp.3018-3024(1997)
9. Best Paper Award & Sunahara Memorial Award (May 1998)
Society of Systems, Control and Information Engineers
Tsuneo Yoshikawa，Jun-ichi Imura, and Ryuji Haruna: Identification and Control of
Nonlinear Dynamic Systems by Hybrid Neural Networks, Transactions of theInstitute of Systems, Control and Information Engineers, vol.9, no.3, pp.127-136 (inJapanese) (1996)
10. Achievement Award (June 1998)
Division of Robotics and Mechatronics, Japan Society of Mechanical Engineers
For seminal contributions in developing the basic concept and index measure ofmanipulability, control methods for robot hand manipulation, and dynamic control
algorithms for robot manipulators.
11. IEEE Fellow (January 2000)

For contributions to the analysis and control of robotic mechanisms
12. Outstanding Paper Award (September 2000)
The Virtual Reality Society of Japan
Yasuyoshi Yokokohji, Yoshihiko Sugawara，and Tsuneo Yoshikawa: Accurate Image
Overlay on Head-Mounted Displays Using Vision and Accelerometers, Transactionsof the Virtual Reality Society of Japan, vol.4, no.4 pp.589-598 (in Japanese) (1999)
13. JSME Fellow (March 2002)
Japan Society of Mechanical Engineers
14. Outstanding Paper Award (March 2005)
Fanuc FA Robot Foundation
Jun Ueda and Tsuneo Yoshikawa: Robust Arm Configuration of Manipulator
Mounted on Flexible Base, Journal of the Robotics Society of Japan, vol.20, no.5,
pp.537-542 (in Japanese) (2002)
15. RSJ honorary member (March 2012)
Robotics Society of Japan
16. Education Award (April 2021)
Japan Society of Mechanical Engineers
Book: T. Yoshikawa: Foundations of Robot Control, Corona Publishing Co. Ltd.
(1988) (in Japanese)
The book has gone through more than 30 editions and contributed significantly in
educating engineers and researchers in the field of robotics and mechatronics.

Professional Activities (selected)
Domestic
1. Director (March 1984-March 1986)
In Charge of Projects, Robotics Society of Japan
2. Conference Chair (November 28 – 30, 1985 )The Third Conference of Robotics Society of Japan, Osaka
3. Director (March 1991-March 1993)
In Charge of journal, Robotics Society of Japan
4. Vice President (March 2001-March 2003)
Robotics Society of Japan
5. President (March 2003-March 2005)
Robotics Society of Japan
6. Auditor (March 2006-March 2008)
Robotics Society of Japan7. Director (May 1989-May 1991)
In Charge of journal, The Institute of Systems, Control and Information Engineers
8. Branch Director (February 1999 - February 2000)
Kansai Branch, Society of Instrument and Control Engineers
9. Director (April 2002-March 2004)
In Charge of Projects, The Institute of Systems, Control and Information Engineers

International
1. Conference Chair (October 28 - 30, 1993)
Third International Symposium on Experimental Robotics (ISER), Kyoto, Japan
2. Conference Program Vice-Chair (July 11 - 18, 1994)
Japan-U.S.A. Symposium on Flexible Automation, Kobe, Japan
3. Technical Editor (May 1990 – May 1993)
IEEE Trans. On Robotics and Automation
4. Conference Program Vice-Chair (April 22 -28, 1996)
IEEE International Conference of Robotics and Automation, (ICRA 1996),
Minneapolis, Minnesota, USA
5. Program Co-Chair (April 19 – 21 2001)
32nd International Symposium on Robotics (ISR 2001), Seoul. Korea

Publications
Books (English and Japanese)[1] 菅井斉喜，得丸英勝，花房秀郎，吉川恒夫，和田力：制御工学，コロナ社 (1979)
Y. Sugai, H. Tokumaru, H. Hanafusa, T. Yoshikawa, and T. Wada: “Control
Engineering,” Corona Publishing Co. Ltd. (in Japanese) (1979)[2] 吉川恒夫(訳)：ロボット・マニピュレータ（R.P. Paul 著，MIT Press），コロナ社（1984）
R.P. Paul (Author), T. Yoshikawa (Translator): “Robot Manipulator,” Corona Publishing
Co. Ltd. (in Japanese) (1984)[3]. 吉川恒夫，ロボット制御基礎論，コロナ社 (1988)
T. Yoshikawa: “Foundations of Robot Control,” Corona Publishing Co. Ltd. (inJapanese) (1988)[4]. Tsuneo Yoshikawa: “Foundations of Robotics, Analysis and Control” MIT Press(1990)[5]. 吉川恒夫，井村順一：現代制御論，コロナ社 (2014) (現代制御論，昭晃堂 (1994)と同

内容)
T. Yoshikawa and Jyun-ichi Imura: “Modern Control Theory,” Corona Publishing Co.
Ltd. (in Japanese) (2014) (Originally published from Shokodo in 1994)[6]. 吉川恒夫：古典制御論，コロナ社 (2014) (古典制御論，昭晃堂 (2004)と同内容)
T. Yoshikawa: “Classical Control Theory,” Corona Publishing Co. Ltd. (in Japanese)(2014) (Originally published from Shokodo in 2004)

Refereed Journal Papers
English Journal Papers[1] Yoshikazu Sawaragi and Tsuneo Yoshikawa: Performance Bounds for Discrete-Time
Stochastic Optimal Control Problems, Int. J. Control, vol.10, no.5, pp.481-500 (1969)[2] Yoshikazu Sawaragi and Tsuneo Yoshikawa: Discrete-Time Markovian Decision
Processes with Incomplete State Observation, The Annals of Mathematical Statistics,
vol.41, no.1, pp.78-86 (1970)[3] Tsuneo Yoshikawa: An Example of Stochastic Multistage Games with Noisy State
Observation, IEEE Trans. on Automatic Control, vol.AC-15, no.4, pp.455-458 (1970)[4] Tsuneo Yoshikawa: On Discrete-Time Kalman Filter in Singular Case and a Kind of
Pseudo-Inverse of a Matrix, Int. J. Control, vol.15, no.6, pp.1157-1163 (1972)[5] Tsuneo Yoshikawa: Minimal-Order Optimal Filters for Discrete-Time Linear
Stochastic Systems, Int. J. Control, vol.21, no.1, pp.1-19 (1975)[6] Tsuneo Yoshikawa, Hiroaki Kobayashi: Observability of Decentralized
Discrete-Time Control Systems, Int. J. Control, vol.22, no.1, pp.83-95 (1975)[7] Tsuneo Yoshikawa and S.P. Bhattacharyya: Partial Uniqueness: Observability and
Input Identifiability, IEEE Trans. on Automatic Control, vol.AC-20, no.5, pp.713-714(1975)[8] Tsuneo Yoshikawa: Dynamic Programming Approach to Decentralized Stochastic
Control Problems, IEEE Trans. on Automatic Control, vol.AC-20, no.6, pp.796-797(1975)[9] Tsuneo Yoshikawa: Steering Law for Roof Type Configuration Control Moment Gyro
System, Automatica, vol.13, no.4, pp.359-368 (1977)[10] Hiroaki Kobayashi, Hideo Hanafusa, and Tsuneo Yoshikawa: Controllability
Under Decentralized Information Structure, IEEE Trans. on Automatic Control,
vol.AC-23, no.2, pp.182-188 (1978)[11] Tsuneo Yoshikawa: Decomposition of Dynamic Team Decision Problems, IEEE
Trans. on Automatic Control, vol.AC-23, no.4, pp.627-632 (1978)[12] Tsuneo Yoshikawa and Hiroaki Kobayashi: Separation of Estimation and Control

for Decentralized Stochastic Control Systems, Automatica, vol.14, no.6, pp.623-628(1978)[13] Tsuneo Yoshikawa and Toshiharu Sugie: Inverse Systems for Reproducing Linear
Functions of Inputs, Automatica, vol.17, no.5, pp.763-769 (1981)[14] Tsuneo Yoshikawa: Condition for Existence of Solutions of Linear Equations with
Arbitrary Vectors and Its Relation to Controllability, IEEE Trans. on AutomaticControl, vol.AC-26, no.3, pp.728-730 (1981)[15] Hiroaki Kobayashi and Tsuneo Yoshikawa: Graph-Theoretic Approach toControllability and Localizability of Decentralized Control Systems, IEEE Trans. on
Automatic Control, vol.AC-27, no.5, pp.1096-1108 (1982)[16] Tsuneo Yoshikawa: Dynamic Manipulability of Robot Manipulators, Journal of
Robotic Systems, vol.2, no.1, pp.113-124. (1985)[17] Tsuneo Yoshikawa: Manipulability of Robotic Mechanisms, The international
Journal of Robotics Research, vol.4, pp.3-9. (1985)[18] Tsuneo Yoshikawa and Toshiharu Sugie: Analysis and Synthesis of Tracking
Systems Considering Sensor Dynamics, Int. J. Control, vol.41, no.4, pp.961-971 (1985)[19] Toshiharu Sugie and Tsuneo Yoshikawa: General Solutions of Robust Tracking
Problem in Two-Degree-of-Freedom Control System, IEEE Trans. on AutomaticControl, vol.AC-31, no.6, pp.552-554 (1986)[20] Tsuneo Yoshikawa, Toshiharu Sugie and Hideo Hanafusa: Synthesis of Robust
Tracking Systems with Specified Transfer Matrices, Int. J. Control, vol.43, no.4,
pp.1201-1214 (1986)[21] Tsuneo Yoshikawa and Toshiharu Sugie: Filtered Inverse Systems, Int. J. Control,
vol.43, no.6, pp.1661-1671 (1986)[22] Yoshihiko Nakamura, Hideo Hanafusa, and Tsuneo Yoshikawa: Task-Priority
Based Redundancy Control of Robot Manipulators, Int. J. Robotics Research, vol.6,
no.2, pp.3-15 (1987)[23] Tsuneo Yoshikawa: Dynamic Hybrid Position/Force Control of Robot Manipulators-- Description of Hand Constraints and Calculation of Joint Driving Force, IEEE
Journal of Robotics and Automation, vol. RA-3, no.5, pp.386-392 (1987)[24] Tsuneo Yoshikawa, Toshiharu Sugie, and Masaki Tanaka: Dynamic Hybrid
Position/Force Control of Robot Manipulators ---Controller Design and Experiment,
IEEE Journal of Robotics and Automation, vol. RA-4, no.6, pp.699-705 (1988)[25] Yoshihiko Nakamura, Kiyoshi Nagai, and Tsuneo Yoshikawa: Dynamics andStability in Coordination of Multiple Robotics Mechanisms, Int. J. Robotics Research,
vol.8, no.2, pp.44-61 (1989)[26] Tsuneo Yoshikawa, and Shigeo Kiriyama: Four-Joint Redundant Wrist Mechanism
and Its Control, ASME Journal of Dynamic Systems, Measurement, and Control,vol.111, pp.200-204 (1989)[27] Tsuneo Yoshikawa and Kiyoshi Nagai: Manipulating and Grasping Forces in
Manipulation by Multifingered Robot Hands, IEEE Trans. on Robotics and Automation,
Vol.7, No.1, pp.67-77 (1991)[28] Tsuneo Yoshikawa, Yoshihiko Nakamura, and Yasuyoshi Yokokohji: Application of
DSP to Real Time Computation for Dynamic Control of Robot Manipulators,
ADVANCED ROBOTICS, Vol.5, No.3, pp.275-291 (1991)[29] Tsuneo Yoshikawa, and Akio Sudou: Dynamic Hybrid Position/Force Control of
Robot Manipulators ---On-Line Estimation of Unknown Constraint, IEEE Trans. on
Robotics and Automation, Vol.9, No.2, pp.220-226 (1993)[30] Tsuneo Yoshikawa, and Xin-Zhi Zheng: Coordinated Dynamic Hybrid
Position/Force Control for Multiple Robot Manipulators Handling One Constrained
Object, International Journal of Robotics Research, MIT Press, Vol.12, No.3,
pp.219-230 (1993)[31] Yasuyoshi Yokokohji, and Tsuneo Yoshikawa: Design Guide of Master Arms
Considering Operator Dynamics, ASME Journal of Dynamic Systems, Measurement,
and Control, Vol.115, pp.253-260 (1993)[32] Yasuyoshi Yokokohji, Takeshi Toyoshima, and Tsuneo Yoshikawa: Efficient
Computational Algorithms for Trajectory Control of Free-Flying Space Robots with
Multiple Arms, IEEE Transaction on Robotics and Automation, Vol.9, No.5, pp.571-580(1993)[33] Jun-ichi Imura, Toshiharu Sugie and Tsuneo Yoshikawa: Global Robust
Stabilization of Nonlinear Cascaded systems, IEEE Transaction on Automatic Control,
Vol.39, No.5, pp.1084-1089 (1994)[34] Yasuyoshi Yokokohji and Tsuneo Yoshikawa: Bilateral Control of Master-Slave
Manipulators for Ideal Kinesthetic Coupling-Formulation and Experiment-, IEEE
Transaction on Robotics and Automaton, Vol.10, No.5, pp.605-620 (1994)[35] Jun-ichi Imura, Toshiharu Sugie and Tsuneo Yoshikawa: Adaptive Robust Controlof Robot Manipulators-Theory and Experiment-, IEEE Transaction on Robotics andAutomation, Vol.10, No.5, pp.705-710 (1994)[36] Jun-ichi Imura, Toshiharu Sugie, Yasuyoshi Yokokohji, and Tsuneo Yoshikawa:
Robust Control of Robot Manipulators Based on Joint Torque Sensor Information, The
International Journal of Robotics Research, Vol.13, No.5, pp.434-442 (1994)[37] Jun-ichi Imura, Hiroshi Maeda, Toshiharu Sugie, Tsuneo Yoshikawa: Robust
Stabilization of Nonlinear Systems by H∞ State Feedback, System & Control Letters,
Vol.24, pp.103-114 (1995)[38] Minoru Yamamoto, Haruo Mori, Tsuneo Yoshikawa: Operating Characteristics ofan Externally Pressurized Gas Lubricated Piston Ring, Trans. ASME Journal ofTribology, Vol. 117, No. 3, pp. 534-539 (1995)[39] Tsuneo Yoshikawa, Yasuyoshi Yokokohji, Tomoharu Matsumoto, and Xin-Zhi
Zheng: Display of Feel for the Manipulation of Dynamic Virtual Objects, ASME J.
Dynamic Systems, Measurement, and Control, Vol. 117, No. 4, pp. 554-558 (1995)[40] Jun-ichi Imura and Tsuneo Yoshikawa: Characterization of Some Gain Conditions
via the Hamilton-Jacobi Inequality, System & Control Letters, Vol.28, pp.263-271(1996)[41] Tsuneo Yoshikawa, Kensuke Harada, and Atsushi Matsumoto: Hybrid
Position/Force Control of Flexible-Macro/Rigid-Micro Manipulator Systems, IEEE
Trans. on Robotics and Automation, Vol.12, No.4, pp.633-639 (1996)[42] Jun-ichi Imura, Toshiharu Sugie, and Tsuneo Yoshikawa: A Hamilton-Jacobi
Inequality Approach to the Strict H_{∞} Control Problem of Nonlinear Systems,
Automatica, vol.32, no.4, pp.645-650 (1996)[43] Tsuneo Yoshikawa and Koh Hosoda: Modeling of Flexible Manipulators using
virtual rigid links and passive joints, The International J. of Robotics Research, vol.15,
no.3, pp.290-299 (1996)[44] Jun-ichi Imura and Tsuneo Yoshikawa: Parametrization of All Stabilizing
Controllers of Nonlinear Systems, Systems & Control Letters, Vol.29, pp.207-213(1997)[45] Tsuneo Yoshikawa, Xin-Zhi Zheng, and Toshiki Moriguchi: Display of the
Operating Feel of Dynamic Virtual Objects with Frictional Surfaces The International
Journal of Robotics Research, Vol.16, No.5, pp.589-600 (1997)[46] Jun-ich Imura, Toshiharu Sugie, and Tsuneo Yoshikawa: Characterization of theStrict Bounded Real Condition of Nonlinear Systems IEEE Trans. on AutomaticControl, Vol.42, No.10, pp.1459-1464 (1997)[47] Masamitsu Kurisu and Tsuneo Yoshikawa: Tracking Control for an Object inPushing Operation, Journal of Robotic Systems, Vol.14, No.10, pp.729-736 (1997)[48] Tsuneo Yoshikawa: Virtual Truss Model for Characterization of Internal Forces forMultiple Finger Grasps, IEEE Transaction on Robotics and Automation, Vol.15, No.5,
pp.941-947 (1999)[49] Tsuneo Yoshikawa: Passive and Active Closures by Constraining Mechanisms,
Transactions of the ASME Journal of Dynamic Systems, Measurement, and Control,
Vol.121, pp.418-424 (1999)[50] Xin-Zhi Zheng, Ryo Nakashima, and Tsuneo Yoshikawa: On Dynamic Control ofFinger Sliding and Object Motion in Manipulation with Multifingered Hands, IEEE
Transaction on Robotics and Automation, Vol.16, No.5, pp.469-481 (2000)[51] Tsuneo Yoshikawa and Akihiro Nagura: A Touch and Force Display System for
Haptic Interface, Presence, Vol.10, No.2, pp.225-235 (2001)

[52] Masayuki Kawai and Tsuneo Yoshikawa: Stable Haptic Display Based on Coupling
Impedance for Internal and External Forces, Transactions on Control, Automation and
Systems Engineering, Vol.4, No.1, pp.2-8 (2002)[53] Keigo Kobayashi and Tsuneo Yoshikawa: Controllability of Under-Actuated Planar
Manipulators with One Unactuated Joint , The International Journal of Robotics
Research, Vol.21, No.5-6, pp.555-561 (2002)[54] Jun Ueda, Akihiko Imagi, Hitoshi Tamayama, and Tsuneo Yoshikawa: Track
Following Control for Large Capacity Flexible Disk Drives -- Disturbance Observer
Design using Two Position Sensors --, Journal of Robotics and Mechatronics, vol.15,
no.4 (2003)[55] Yasuyoshi Yokokohji, Yukihiro Iida, and Tsuneo Yoshikawa: "Toy Problem" as the
Benchmark Test for Teleoperation Systems, Advanced Robotics, Vol.17, No.3,
pp.253-273 (2003)[56] Jun Ueda, Ryoji Negi, and Tsuneo Yoshikawa: Acquisition of a Page Turning Skillof a Multifingered Hand Using Reinforcement Learning, Advanced Robotics, vol.18,
no.1, pp.101-114 (2004)[57] Masayuki Kawai and Tsuneo Yoshikawa: Haptic Display With an Interface Device
Capable of Continuous-Time Impedance Display Within a Sampling Period,
IEEE/ASME Transactions on Mechatronics, vol.9, no.1, pp.58-64 (2004)[58] Jun Ueda and Tsuneo Yoshikawa: Mode-Shape Compensator for Improving
Robustness of Manipulator Mounted on Flexible Base, IEEE Transaction on Robotics
and Automation, Vol.20, No.2, pp.256-268 (2004)[59] Jun Ueda and Tsuneo Yoshikawa: Force-Reflecting Bilateral Teleoperation With
Time Delay by Signal Filtering, IEEE Transaction on Robotics and Automation, Vol.20,
No.3, pp.613-619, June (2004)[60] Takashi Imaida, Yasuyoshi Yokokohji, Toshitsugu Doi, Mitsushige Oda, andTsuneo Yoshikawa: Ground-Space Bilateral Teleoperation of ETS-VII Robot Arm byDirect Bilateral Coupling Under 7-s Time Delay Condition, IEEE Transaction on
Robotics and Automation, Vol.20, No.3, pp.499-511 (2004)[61] Jun Ueda and Tsuneo Yoshikawa: Robust Arm Configuration of Manipulator
Mounted on Flexible Base, IEEE Transaction on Robotics, Vol.20, No.4, pp.781-789(2004)[62] Ryo Kikuuwe and Tsuneo Yoshikawa: Recognizing Object Surface Properties Using
Impedance Perception, Robotica, vol.23, no. 3, pp.387-396 (2005)[63] Ryo Kikuuwe and Tsuneo Yoshikawa: Robot Perception of Impedance, Journal of
Robotic Systems, vol.22, no.5, pp.231-247 (2005)[64] Koichiro Hayashi, Yasuyoshi Yokokohji, and Tsuneo Yoshikawa: Tele-Existence
Vision Systems with Image Stabilization for Rescue Robots, Journal of Robotics andMechatronics, vol.17, no.2, pp.181-188 (2005)[65] Tetsuyou Watanabe and Tsuneo Yoshikawa: Grasping Optimization using a
Required External Force Set, IEEE Transactions on Automation Science andEngineering, vol.4, no.1, pp.52-66 (January 2007)[66] Masanao Koeda, Toshitatsu Ito and Tsuneo Yoshikawa: Shuffle Turning in
Humanoid Robots through Load Distribution Control of the Soles, Robotica, vol.29,
issue 7, pp.1017-1024 (2011)
Japanese Journal Papers[1] 椹木義一，吉川恒夫：不確実なパラメータを含む系の準最適制御，制御工学，11 巻 12
号，657-668 頁（1967）
Yoshikazu Sawaragi and Tsuneo Yoshikawa: Suboptimal Control of Systems with
Unknown Parameters, Control Engineering, vol.11, no.12, pp.657-668 (in Japanese)(1967)[2] 椹木義一，吉川恒夫：計算時間遅れを考慮した適応制御過程，計測自動制御学会論文集，3 巻 4 号，309-315 頁（1967）
Yoshikazu Sawaragi and Tsuneo Yoshikawa: On Adaptive Control Processes with
Computing Time Delay, Trans. Society of Instrument and Control Engineers, vol.3, no.4,
pp.309-315 (in Japanese) (1967)[3] 椹木義一，吉川恒夫，伊東弘一：ディジタル制御系における評価関数とサンプリング
周期について，制御工学，13 巻 2 号，94-102 頁（1969）
Yoshikazu Sawaragi, Tsuneo Yoshikawa, Koh-ichi Ito: On the Relation between
Performance Indexes and Samp1ing Periods of Digital Control Systems, Control
Engineering, vol.13, no.2, pp.94-102 (in Japanese) (1969)[4] 椹木義一，吉川恒夫：ある種の未知特性をもつ系の統計的最適制御，計測自動制御学
会論文集，5 巻 1 号，40-48 頁（1969）
Yoshikazu Sawaragi and Tsuneo Yoshikawa: Stochastic Optimal Control of Systems
with Some Type of Unknown Properties, Trans. Society of Instrument and Control
Engineers, vol.5, no.1, pp.40-48 (in Japanese) (1969)[5] 吉川恒夫：ある種の疑似逆行列と離散時間型カルマン・フィルタ，システムと制御，
15 巻 8 号，696-701 頁（1971）
Tsuneo Yoshikawa: A Kind of Pseudo-Inverse of a Matrix and Discrete-Time Kalman
Filter, Systems and Control, vol.15, no.8, pp.606-701 (in Japanese) (1971)[6] 吉川恒夫：観測雑音の共分散行列が正則でない場合の線形離散時間系に対する低次元
最適フィルタ，計測自動制御学会論文集，7 巻 6 号，544-548 頁（1971）
Tsuneo Yoshikawa: On Low Order Optimal Fi1ters for Linear Discrete-Time Systems
with Measurement Noise Whose Covariance Matrix is Singular, Trans. Society of
Instrument and Control Engineers, vol.7, no.6, pp.544-548 (in Japanese) (1971)

[7] 吉川恒夫：離散時間型確率系の最適制御，システムと制御，16 巻 1 号，19-24 頁 (1972)
Tsuneo Yoshikawa: Optimal Control of Discrete-Time Stochastic Systems, Systems andControl, vol.16, no.1, pp.19-24 (in Japanese) (1972)[8] 椹木義一，明石一，吉川恒夫，今井弘之，藤重 悟：適応制御プロセスにおける観測の最適化について，システムと制御，17 巻 6 号，387-396 頁（1973）
Yoshikazu Sawaragi, Hajime Akashi, Tsuneo Yoshikawa, Hiroyuki Imai, and Satoru
Fujishige: On Optimal Observation Strategy in Adaptive Control Process, Systems andControl, vol.17, no.6, pp.387-396 (in Japanese) (1973)[9] 吉川恒夫：線形離散時間系に対する最小次元最適フィルタ，計測自動制御学会論文集，
9 巻 5 号，588-594 頁（1973）
Tsuneo Yoshikawa: Minimal-Order Optimal Fi1ters for Linear Discrete-Time Systems,
Trans. Society of Instrument and Control Engineers, vol.9, no.5, pp.588-594 (inJapanese) (1973)[10] 吉川恒夫：情報構造，電気学会誌，93 巻 7 号，613-616 頁 (1973)
Tsuneo Yoshikawa: Information Structure, Journal of the Institute of ElectricalEngineers of Japan, vol.93, no.7, pp.613-616 (in Japanese) (1973)[11] 吉川恒夫：線形離散時間系に対するオブザーバの最小次数，システムと制御，18 巻 2号，125-126 頁（1974）
Tsuneo Yoshikawa: Minimal Order of Observers for Linear Discrete-Time Systems,
Systems and Control, vol.18, no.2, pp.125-126 (in Japanese) (1974)[12] 吉川恒夫，吉田雄二：離散時間形線形分散制御系における推定と制御の分離，計測自動制御学会論文集，10 巻 3 号，263-271 頁（1974）
Tsuneo Yoshikawa and Yuji Yoshida: Separation of Estimation and Control for
Discrete-Time Linear Decentralized Control Systems, Trans. Society of Instrument andControl Engineers, vol.10, no.3, pp.263-271 (in Japanese) (1974)[13] 吉川恒夫，小林博明：分散制御系の可観測性－有限単位時間遅れをもって操作量が伝達される場合－，計測自動制御学会論文集，10 巻 3 号，327 頁 ～332 頁（1974）
Tsuneo Yoshikawa and Hiroaki Kobayashi: Observability of Decentralized Control
Systems -Case with Information Exchange on Control Variables with Finite Unit Time
Delay-, Trans. Society of Instrument and Control Engineers, vol.10, no.3, pp.327-332(in Japanese) (1974)[14] 吉川恒夫，小林博明：分散制御系の可観測性－情報交換が存在しない場合－，計測自動制御学会論文集，11 巻 1 号，38-44 頁（1975）
Tsuneo Yoshikawa and Hiroaki Kobayashi: Observability of Decentralized Control
Systems -Case with No Information Exchange-, Trans. Society of Instrument andControl Engineers, vol.11, no.1, pp.38-44 (in Japanese) (1975)[15] 小林博明，花房秀郎，吉川恒夫：分散制御系の極指定可能性と可制御性，システムと制御，20 巻 10 号，47 頁～55 頁（1976）

Hiroaki Kobayashi, Hideo Hanafusa, and Tsuneo Yoshikawa: Pole Assignabi1ity andControllability of Decentralized Control Systems, Systems and Control, vol.20, no.10,
pp.47-55 (in Japanese) (1976)[16] 小林博明，花房秀郎，吉川恒夫：分散制御系の可制御性，計測自動制御学会論文集，
13 巻 1 号，7-13 頁（1977）
Hiroaki Kobayashi, Hideo Hanafusa, and Tsuneo Yoshikawa: Controllability ofDecentra1ized Control Systems, Trans. Society of Instrument and Control Engineers,
vol.13, no.1, pp.7-13 (in Japanese) (1977)[17] 吉川恒夫：動的チーム決定問題の分解，計測自動制御学会論文集，13 巻 6 号，580-586
頁（1977）
Tsuneo Yoshikawa: “Decomposition of Dynamic Team Decision Problem, Trans. Societyof Instrument and Control Engineers, vol.13, no.6, pp.580-586 (in Japanese) (1977)[18] 小林博明，花房秀郎，吉川恒夫：分散制御系の準最適制御，システムと制御，22 巻 3号，169-177 頁（1978）
Hiroaki Kobayashi, Hideo Hanafusa, and Tsuneo Yoshikawa: Suboptimal Control ofDecentralized Control Systems, Systems and Control, vol.22, no.3, pp.169-177 (inJapanese) (1978)[19] 吉川恒夫：任意ベクトルを含む線形方程式の解の存在条件と可制御性，システムと制御，23 巻 10 号，602-603 頁（1979）
Tsuneo Yoshikawa: Existence Conditions of Solutions and Controllability of Linear
Equations, Systems and Control, vol.23, no.10, pp.602-603 (in Japanese) (1979)[20] 吉川恒夫，杉江俊治：入力の線形関数を再構成するための逆システム，計測自動制御
学会論文集，15 巻 7 号，878-885 頁（1979）
Tsuneo Yoshikawa and Toshiharu Sugie: Inverse Systems for Reproducing Linear
Functions of Inputs, Trans. Society of Instrument and Control Engineers, vol.15, no.7,
pp.878-885 (in Japanese) (1979)[21] 吉川恒夫，岡均，吉川富雄，花房秀郎：環状路線上の車両郡の分散制御，システムと制御，24 巻 10 号，690 頁～698 頁（1980）
Tsuneo Yoshikawa, Hitoshi 0ka, Tomio Yoshikawa, and Hideo Hanafusa: Decentralized
Control of Moving Vehicles on loop Line, Systems and Control, vol.24, no.10,
pp.690-698 (in Japanese) (1980)[22] 吉川恒夫，杉江俊治：高周波遮断逆システムとそのサーボ系への一応用，計測自動制
御学会論文集，18 巻 8 号，792-799 頁（1982）
Tsuneo Yoshikawa and Toshiharu Sugie: Filtered Inverses with Application to Servo
Systems, Trans. Society of Instrument and Control Engineers, vol.18, no.8, pp.792-799(in Japanese) (1982)[23] 吉川恒夫，杉江俊治：センサ動特性を考慮した多変数サーボ系の解析，計測自動制御
学会論文集，18 巻 11 号，1067-1073 頁（1982）

Tsuneo Yoshikawa and Toshiharu Sugie: Analysis of Multivariable Servo Systems
Considering Sensor Dynamics, Trans. Society of Instrument and Control Engineers,
vol.18, no.11, pp.1067-1073 (in Japanese) (1982)[24] 花房秀郎，吉川恒夫，中村仁彦：関節形ロボットの自律的ならい制御，計測自動制御
学会論文集，18 巻 11 号，1110-1116 頁（1982）
Hideo Hanafusa, Tsuneo Yoshikawa, and Yoshihiko Nakamura: Autonomous
Contouring Control of an Articulated Robot, Trans. Society of Instrument and Control
Engineers, vol.18, no.11, pp.1110-1116 (in Japanese) (1982)[25] 花房秀郎，吉川恒夫，中村仁彦：関節形ロボットアームの冗長性の解析とその優先順位を有する作業への応用，計測自動制御学会論文集 19 巻 5 号，421-426 頁（1983）
Hideo Hanafusa, Tsuneo Yoshikawa, and Yoshihiko Nakamura: Redundancy Analysis
of Articulated Robot Arms and Its Uti1ization for Tasks with Priority, Trans. Society of
Instrument and Control Engineers, vol.19, no.5, pp.421-426 (in Japanese) (1983)[26] 吉川恒夫，岩崎隆至：分散制御系の固定モードの存在条件－サブシステムの状態が観測できる場合－，計測自動制御学会論文集，20 巻 4 号，361-363 頁（1984）
Tsuneo Yoshikawa and Takashi Iwasaki: Existence Condition for Fixed Modes ofDecentralized Control Systems - Case of Subsystem-State Observation -, Trans. Societyof Instrument and Control Engineers, vol.20, no.4, pp.361-363 (in Japanese) (1984)[27] 吉川恒夫，杉江俊治：センサ動特性を考慮したロバストなサーボ系，計測自動制御学
会論文集，20 巻 2 号，137-142 頁（1984）
Tsuneo Yoshikawa and Toshiharu Sugie: On Robust Servo Systems Considering Sensor
Dynamics, Trans. Society of Instrument and Control Engineers, vol.20, no.2,
pp.137-142 (in Japanese) (1984)[28] 杉江俊治，吉川恒夫，花房秀郎：ロバスト・サーボ系の過渡特性を考慮した設計，計測自動制御学会論文集，20 巻 9 号，788-794 頁（1984）
Toshiharu Sugie, Tsuneo Yoshikawa, and Hideo Hanafusa: Synthesis of Robust Servo
Systems Considering Transient Response, Trans. Society of Instrument and Control
Engineers, vol.20, no.9, pp.788-794 (in Japanese) (1984)[29] 杉江俊治，吉川恒夫：センサ補償を考慮したロバスト・トラッキング系の設計，計測
自動制御学会論文集，20 巻 9 号，862-864 頁（1984）
Toshiharu Sugie and Tsuneo Yoshikawa: Synthesis of Robust Tracking Systems
Considering Sensor Compensation, Trans. Society of Instrument and Control
Engineers, vol.20, no.9, pp.862-864 (in Japanese) (1984)[30] 吉川恒夫：ロボットアームの可操作度，日本ロボット学会誌，2 巻 1 号，63-67 頁（1984）
Tsuneo Yoshikawa: Measure of Manipulatability for Robot Manipulators, Journal of the
Robotics Society of Japan, vol.2, no.1, pp.63-67 (in Japanese) (1984)[31] 吉川恒夫，桐山茂生：ロボットアームの４関節手首機構，計測自動制御学会論文集, 21
巻 5 号，111-113 頁（1985）

Tsuneo Yoshikawa and Shigeo Kiriyama: Four Joint Wrist Mechanism for Robot
Manipulators, Trans. Society of Instrument and Control Engineers, vol.21, no.5,
pp.111-113 (in Japanese) (1985)[32] 吉川恒夫：ロボットアームの位置と力の動的ハイブリッド制御，－手先拘束の記述と関節駆動力の算出－，日本ロボット学会誌，3 巻 6 号，531-537 頁（1985）
Tsuneo Yoshikawa: Dynamic Hybrid Position/Force Control of Robot Manipulators- Description of Hand Constraints and Calculation of Joint Driving Force -, Journal of
the Robotics Society of Japan, vol.3, no.6, pp.531-537 (in Japanese) (1985)[33] 吉川恒夫：ロボットアームの動的可操作性，計測自動制御学会論文集，21 巻 9 号，
970-975 頁（1985）
Tsuneo Yoshikawa: Dynamic Manipulability of Robot Manipulators, Trans. Society of
Instrument and Control Engineers, vol.21, no.9, pp.970-975 (in Japanese) (1985)[34] 杉江俊治，吉川恒夫：２自由度制御系の基本構造とそのサーボ問題への応用，計測自動制御学会論文集，22 巻 2 号，156-161 頁（1986）
Toshiharu Sugie and Tsuneo Yoshikawa: Basic Structure of Two-Degree of Freedom
Control Systems with Its Application to Servo Problem, Trans. Society of Instrument
and Control Engineers, vol.22, no.2, pp.156-161 (in Japanese) (1986)[35] 中村仁彦，吉川恒夫，二股一郎：力覚センサの弾性要素の設計指針と信号処理，計測
自動制御学会論文集 23 巻 5 号，433-439 頁（1987）
Yoshihiko Nakamura，Tsuneo Yoshikawa, and Ichiro Futamata: Elastic Component
Design Criteria and Signal Processing of Force Sensors, Trans. Society of Instrument
and Control Engineers, vol.23, no.5, pp.433-439 (in Japanese) (1987)[36] 中村仁彦，横小路泰義，花房秀郎，吉川恒夫：ロボットマニピュレータの運動学と動力学の統合化計算，計測自動制御学会論文集 23 巻 5 号，491-498 頁（1987）
Yoshihiko Nakamura，Yasuyoshi Yokokohji, Hideo Hanafusa, and Tsuneo Yoshikawa:
Unified Computation of Kinematics and Dynamics for Robot Manipulators, Trans.
Society of Instrument and Control Engineers, vol.23, no.5, pp.491-498 (in Japanese)(1987)[37] 杉江俊治，吉川恒夫，小野俊郎：２自由度系を用いたロボットマニピュレータのロバ
スト制御系設計，システムと制御，31 巻 8 号，613-620 頁（1987）
Toshiharu Sugie, Tsuneo Yoshikawa, and Toshiro Ono: Robust Controller Design for
Robot Manipulators Using Two-Degree-of-Freedom Compensation, Systems andControl, vol.31, no.8, pp.613-620 (in Japanese) (1987)[38] 吉川恒夫，永井清：多指ハンドの操り力と握力，計測自動制御学会論文集，23 巻 11
号，1206-1213 頁（1987）
Tsuneo Yoshikawa and Kiyoshi Nagai: Manipulating and Grasping Forces ofMulti-Fingered Hands, Trans. Society of Instrument and Control Engineers, vol.23,
no.11, pp.1206-1213 (in Japanese) (1987)

[39] 吉川恒夫：マニピュレータに対するパラメータ同定試験の評価，計測自動制御学会論文集 23 巻 11 号，1227-1229 頁（1987）
Tsuneo Yoshikawa: Evaluation of Parameter Identification Tests for Manipulators,
Trans. Society of Instrument and Control Engineers, vol.23, no.11, pp.1227-1229 (inJapanese) (1987)[40] 田畑果津志，杉江俊治，吉川恒夫：フィードバック制御系に対するロバスト安定性の図式的判別法，システム制御学会論文誌， 1 巻 1 号, 26-33 頁 (1988）
Kazushi Tabata, Toshiharu Sugie, and Tsuneo Yoshikawa: Graphic Test for Robust
Stability of Feedback Systems, Transactions of the Institute of Systems, Control andInformation Engineers, vol.1, no.1, pp.26-33 (in Japanese) (1988)[41] 吉川恒夫，中村仁彦，横小路泰義：ＤＳＰによる多関節マニピュレータの動的制御のための実時間計算，日本ロボット学会誌，6 巻 3 号，175-183 頁（1988）
Tsuneo Yoshikawa, Yoshihiko Nakamura, and Yasuyoshi Yokokohji: Application of DSP
to Real Time Computation for Dynamic Control of Robot Manipulators, Journal of the
Robotics Society of Japan, vol.6, no.3, pp.175-183 (in Japanese) (1988)[42] 吉川恒夫，横小路泰義：シリアルリンク型ロボットマニピュレータのリンク座標系に関する考察，計測自動制御学会論文集 24 巻 12 号，1343-1345 頁（1988）
Tsuneo Yoshikawa and Yasuyoshi Yokokohji: On a Link Coordinate Frame Assignmentfor Serial Link Robot Manipulators, Trans. Society of Instrument and Control
Engineers, vol.24, no.12, pp.1343-1345 (in Japanese) (1988)[43] 吉川恒夫，野瀬松男：マニピュレータの動的制御の階層化に関する研究，システム制
御情報学会論文誌，1 巻 7 号，255-262 頁（1988）
Tsuneo Yoshikawa and Matsuo Nose: Study on Dynamic Control of Manipulators Using
Hierarchical Structure Method, Transactions of the Institute of Systems, Control andInformation Engineers, vol.1, no.7, pp.255-262 (in Japanese) (1988)[44] 吉川恒夫，杉江俊治，井村順一：ロボットマニピュレータの階層化ロバスト制御，日本ロボット学会誌， 8 巻 5 号，563-572 頁（1990）
Tsuneo Yoshikawa, Toshiharu Sugie, and Junichi Imura: Hierarchical Robust Control
for Robot Manipulators, Journal of the Robotics Society of Japan, vol.8, no.5,
pp.563-572 (in Japanese) (1990)[45] 横小路泰義，吉川恒夫：マスタ・スレーブ型遠隔操縦システムの操作性， 計測助動
制御学会論文集，26 巻 5 号，572-579 頁 (1990)
Yasuyoshi Yokokohji and Tsuneo Yoshikawa: Maneuverability of Master-Slave
Telemanipulation Systems, Trans. Society of Instrument and Control Engineers, vol.26,
no.5, pp.572-579 (in Japanese) (1990)[46] 横小路泰義，吉川恒夫：オペレータのダイナミクスを考慮した遠隔操縦用マスタアー
ムの可操作性， 計測助動制御学会論文集，26 巻 7 号，818-825 頁 (1990)
Yasuyoshi Yokokohji and Tsuneo Yoshikawa: Manipulability of Master Arms

Considering 0perator Dynamics, Trans. Society of Instrument and Control Engineers,vol.26, no.7, pp.818-825 (in Japanese) (1990)[47] 吉川恒夫，井村順一，村井雅彦：ロボットマニピュレータのロバストな軌道追従制御，システム制御情報学会論文誌，3 巻 7 号，218-225 頁（1990）
Tsuneo Yoshikawa, Junichi Imura, and Masahiko Murai: Robust Trajectory Tracking
Control for Robot Manipulators, Transactions of the Institute of Systems, Control andInformation Engineers, vol.3, no.7, pp.218-225 (in Japanese) (1990)[48] 吉川恒夫，杉江俊治，井村順一：非線形メカニカルシステムのディジタルロバスト制
御，システム制御情報学会論文誌，3 巻 9 号，298-309 頁 (1990）
Tsuneo Yoshikawa, Toshiharu Sugie, and Junichi Imura: Digital Robust Control of
Nonlinear Mechanical Systems, Transactions of the Institute of Systems, Control andInformation Engineers, vol.3, no.9, pp.298-309 (in Japanese) (1990)[49] 吉川恒夫，鄭心知：拘束運動下にある対象物の複数台ロボットによる協調ハイブリッ
ド制御， システム制御情報学会論文誌，3 巻 10 号，326-334 頁（1990）
Tsuneo Yoshikawa and Xin-Zhi Zheng: Coordinated Dynamic Hybrid Position/ForceControl for Multiple Robot Manipulators Handling One Constrained Object,
Transactions of the Institute of Systems, Control and Information Engineers, vol.3,
no.10, pp.326-334 (in Japanese) (1990)[50] 横小路泰義，吉川恒夫：理想的な筋運動感覚を与えるマスタ・スレーブマニピュレー
タのバイラテラル制御，計測助動制御学会論文集，27 巻 1 号，56-63 頁 (1991)
Yasuyoshi Yokokohji and Tsuneo Yoshikawa: Bilateral Control of Master-Slave
Manipulators for Ideal Kinesthetic Coupling, Trans. Society of Instrument and Control
Engineers, vol.27, no.1, pp.56-63 (in Japanese) (1991)[51] 吉川恒夫，村上弘記，細田耕：2 本のフレキシブルリンクを有する 3 自由度マニピュ
レータのモデリングと制御，日本ロボット学会誌，9 巻 1 号，1-10 頁 (1991)
Tsuneo Yoshikawa, Hiroki Murakami, and Koh Hosoda: Modeling and Control of aThree Degree of Freedom Manipulator with Two Flexible Links, Journal of the Robotics
Society of Japan, vol.9, no.1, pp.1-10 (in Japanese) (1991)[52] 井村順一，杉江俊治，吉川恒夫：ロボットマニピュレータの適応ロバスト制御，計測
自動制御学会論文集，27 巻 3 号，314-319 頁 (1991)
Junichi Imura, Toshiharu Sugie, and Tsuneo Yoshikawa: Adaptive Robust Control for
Robot Manipulators, Trans. Society of Instrument and Control Engineers, vol.27, no.3,
pp.314-319 (in Japanese) (1991)[53] 井村順一，杉江俊治，吉川恒夫：加速度情報を用いたマニピュレータのロバスト制御，計測自動制御学会論文集，27 巻 5 号，577-584 頁 (1991)
Junichi Imura, Toshiharu Sugie, and Tsuneo Yoshikawa: Robust Control for
Manipulators using Acceleration Information, Trans. Society of Instrument andControl Engineers, vol.27, no.5, pp.577-584 (in Japanese) (1991)

[54] 井村順一，杉江俊治，横小路泰義，吉川恒夫：ロボットマニピュレータの関節トルクセンサ情報に基づくロバスト制御，計測自動制御学会論文集，27 巻 6 号，639-699 頁 (1991)
Junichi Imura, Toshiharu Sugie, Yasuyoshi Yokokohji, and Tsuneo Yoshikawa:
Robust Control Based on Joint Torque Sensor Information for Robot Manipulators,
Trans. Society of Instrument and Control Engineers, vol.27, no.6, pp.639-699 (inJapanese) (1991)[55] 吉川恒夫，細田耕：仮想的な剛体リンクと受動関節を用いたフレキシブルアームのモ
デリング，計測自動制御学会論文集，27 巻 12 号，1389-1395 頁 (1991)
Tsuneo Yoshikawa and Koh Hosoda: Modeling of Flexible Manipulators Using Virtual
Rigid Links and Passive Joints, Trans. Society of Instrument and Control Engineers,vol.27, no.12, pp.1389-1395 (in Japanese) (1991)[56] 吉川恒夫，横小路泰義，永山敦朗：3 本指ハンドによる対象物の操りにおける滑り運動の解析，日本ロボット学会誌，10 巻 3 号，394-401 頁 (1992)
Tsuneo Yoshikawa, Yasuyoshi Yokokohji, and Atsuo Nagayama: Object Handling by
Three-Fingered Hands Using Slip Motion, Journal of the Robotics Society of Japan,
vol.10, no.3, pp.394-401 (in Japanese) (1992)[57] 吉川恒夫，栗栖正充：対象物押し操作にもとづく摩擦力分布の推定法，日本ロボット
学会誌，10 巻 5 号，632-638 頁 (1992)
Tsuneo Yoshikawa and Masamitsu Kurisu: Estimation of the Friction Distribution
from Pushing an Object, Journal of the Robotics Society of Japan, vol.10, no.5,
pp.632-638 (in Japanese) (1992)[58] 吉川恒夫，横小路泰義，豊島毅：宇宙用多腕型ロボットの運動制御のための効率的計算法，日本ロボット学会誌，10 巻 5 号，639-647 頁 (1992)
TsuneoYoshikawa,Yasuyoshi

Yokokohji,andTakeshiToyoshima:

EfficientComputational Algorithm for Motion Control of Multi-Arm Space Robots, Journal of
the Robotics Society of Japan, vol.10, no.5, pp.639-647 (in Japanese) (1992)[59] 吉川恒夫，横小路泰義，余永：拘束状態遷移難度に基づくロボットによる組立作業の計画法，システム制御情報学会論文誌，5 巻 7 号，283-293 頁 (1992)
Tsuneo Yoshikawa, Yasuyoshi Yokokohji, and Yong Yu: An Assembly Planning for
Robots Based on Constraint State Transition Difficulty, Transactions of the Institute of
Systems, Control and Information Engineers, vol.5, no.7, pp283-293 (in Japanese)(1992)[60] 山本穣，森美郎，吉川恒夫：静圧気体潤滑ピストンリングに関する基礎的研究，トラ
イボロジスト，37 巻 11 号，929-935 頁 (1992)
Minoru Yamamoto, Haruo Mori, and Tsuneo Yoshikawa: A Basic Study on anExternally Pressurized Gas Lubricated Piston Ring, Tribologist, vol.37, no.11,
pp929-935 (in Japanese) (1992)[61] 井村順一，杉江俊治，吉川恒夫：マッチング条件を満たさない不確実要素を含む非線

形システムの大域的ロバスト安定化，計測自動制御学会論文集，28 巻 8 号，947-955 頁(1992)
Junichi Imura, Toshiharu Sugie, and Tsuneo Yoshikawa: Global Robust Stabilization
for a Class of Nonlinear Systems with Mismatched Uncertainties, Trans. Society of
Instrument and Control Engineers, vol.28, no.8, pp.1947-955 (in Japanese) (1992)[62] 井村順一，杉江俊治，吉川恒夫：適応ロバスト制御の DD アームを用いた基礎実験，
計測自動制御学会論文集，28 巻 8 号，1016-1018 頁 (1992)
Junichi Imura, Toshiharu Sugie, and Tsuneo Yoshikawa: Experiments of an Adaptive
Robust Control Method Using a Direct-Drive Arm, Trans. Society of Instrument andControl Engineers, vol.28, no.8, pp.1016-1018 (in Japanese) (1992)[63] 永井清，吉川恒夫：多指ハンドの適応把握，日本ロボット学会誌，11 巻 1 号，111-120
頁 (1993)
Kiyoshi Nagai and Tsuneo Yoshikawa: Adaptive Grasping by Multifingered Hands,
Journal of the Robotics Society of Japan, vol.11, no.1, pp.111-120 (in Japanese) (1993)[64] 吉川恒夫，細田耕，土井利次：マクローマイクロシステムによるフレキシブルアームの準静的軌道制御，日本ロボット学会誌，11 巻 1 号， 140-147 頁 (1993)
Tsuneo Yoshikawa, Koh Hosoda, and Toshitsugu Doi: Quasi-Static Trajectory Tracking
Control of Flexible Manipulator by Macro-Micro Manipulator System, Journal of the
Robotics Society of Japan, vol.11, no.1, pp.140-147 (in Japanese) (1993)[65] 鄭心知，友近信行，吉川恒夫：複数のロボット機構による協調的操り時の動的可操作性，日本ロボット学会誌，11 巻 6 号，892-900 頁 (1993)
Xin-Zhi Zheng, Nobuyuki Tomochika, and Tsuneo Yoshikawa: Dynamic Manipulabi1ityof Multiple Robotic Mechanisms in Coordinated Manipulation, Journal of the Robotics
Society of Japan, vol.11, no.6, pp.892-900 (in Japanese) (1993)[66] 吉川恒夫，横小路泰義，渡辺直満：駆動冗長性をもつ閉リンク機構の動力学解析，日本ロボット学会誌，11 巻 6 号，913-917 頁 (1993)
Tsuneo Yoshikawa, Yasuyoshi Yokokohji, Naomitsu Watanabe: Dynamics Analysis of
Closed Link Mechanisms with Redundant Actuators, Journal of the Robotics Society ofJapan, vol.11, no.6, pp.913-917 (in Japanese) (1993)[67] 細田耕，吉川恒夫：平面 2 自由度フレキシブルアームの軌道制御，日本ロボット学会
誌，11 巻 7 号，134-140 頁 (1993)
Koh Hosoda and Tsuneo Yoshikawa: Trajectory Tracking Control of 2 d.o.f. Flexible
Manipulator, Journal of the Robotics Society of Japan, vol.11, no.7, pp.134-140 (inJapanese) (1993)[68] 吉川恒夫，梅野光：対象物ダイナミクスを考慮した動的ハイブリッド制御，日本ロボット学会誌，11 巻 8 号，125-131 頁 (1993)
Tsuneo Yoshikawa and Akira Umeno: Dynamic Hybrid Control of Manipulators
Considering Object Dynamics, Journal of the Robotics Society of Japan, vol.11, no.8,

pp.125-131 (in Japanese) (1993)[69] 吉川恒夫，横小路泰義，松本智治，鄭心知：動特性を考慮した仮想物体操作感の実現，
日本ロボット学会誌，11 巻 8 号，1236-1243 頁 (1993)
Tsuneo Yoshikawa, Yasuyoshi Yokokohji, Tomoharu Matsumoto, and Xin-Zhi Zheng:
Rea1ization of Operating Feeling on Virtual Objects Considering Their Dynamics,
Journal of the Robotics Society of Japan, vol.11, no.8, pp.1236-1243 (in Japanese)(1993)[70] 山本穣，山田直樹，森美郎，吉川恒夫：静圧気体潤滑ピストンリングの周方向すきま分布に関する研究，トライボロジスト，38 巻 4 号，381-388 頁 (1993)
Minoru Yamamoto ， Naoki Yamada ， Haruo Mori, and Tsuneo Yoshikawa: Film
Thickness Profiles of an Externally Pressurized Gas Lubricated Piston Ring,
Tribologist, vol.38, no.4, pp381-3885 (in Japanese) (1993)[71] 井村順一，杉江俊治，吉川恒夫：非線形システムの内部安定性と L2 ゲイン-有界実条
件の導出-，計測自動制御学会論文集，29 巻 6 号，659-667 頁 (1993)
Junichi Imura, Toshiharu Sugie, and Tsuneo Yoshikawa: Internal Stabi1ity and L2
Gain of Non1inear Systems – Derivation of Bounded Real Condition -, Trans. Society of
Instrument and Control Engineers, vol.29, no.6, pp.659-667 (in Japanese) (1993)[72] 吉川恒夫，細田耕，土井利次，村上弘記：マクローマイクロシステムによるフレキシ
ブルアームの動的軌道制御，日本ロボット学会誌， 12 巻 2 号，299-303 頁 (1994)
Tsuneo Yoshikawa，Koh Hosoda，Toshitsugu Doi, and Hiroki Murakami: Dynamic
Trajectory Tracking Control of Flexible Manipulator by Macro-Micro Manipulator
System, Journal of the Robotics Society of Japan, vol.12, no.2, pp.299-303 (in Japanese)(1994)[73] 吉川恒夫，鄭心知，森口知規：摩擦表面を有する仮想対象物の動的操作感提示，日本機械学会論文集(Ｃ編)，60 巻 578 号，103-110 頁 (1994)
Tsuneo Yoshikawa，Xin-Zhi Zheng, and Toshiki Moriguchi: Display of Operating Feel ofDynamic Virtual Objects with Frictional Surface, Transactions of the Japan Society of
Mechanical Engineers. C, vol.60, No.578, pp.103-110 (in Japanese) (1994)[74] 永井清，吉川恒夫：冗長マクロ・マイクロ・マニピュレータのインピーダンス制御，
日本ロボット学会誌，12 巻 5 号，766-772 頁 (1994)
Kiyoshi Nagai and Tsuneo Yoshikawa: Impedance Control of Redundant Macro Micro
Manipulators, Journal of the Robotics Society of Japan, vol.12, no.5, pp.766-772 (inJapanese) (1994)[75] 吉川恒夫，原田研介，松本淳，村上弘記：マクロ-マイクロシステムによるフレキシブ
ルアームの準静的ハイブリッド制御，計測自動制御学会論文集, 31 巻 8 号, 1129-1135 頁(1995)
Tsuneo Yoshikawa, Kensuke Harada, Atsushi Matsumoto, and Hiroki Murakami:
Quasi-Static Hybrid Position/Force Control of Flexible Manipulators by Macro-MicroManipulator System, Trans. Society of Instrument and Control Engineers, vol.31, no.8,
pp.1129-1135 (in Japanese) (1995)[76] 余永，横小路泰義，吉川恒夫：拘束状態における二種類の運動自由度の定義と組立作業計画への応用，システム制御情報学会論文誌， 8 巻 2 号，80～90 頁，(1995)
Yong Yu，Yasuyoshi Yokokohji, and Tsuneo Yoshikawa: Definition of Two Kinds of theDegree of Freedom in Constraint State and Its Application to Assembly Planning,
Transactions of the Institute of Systems, Control and Information Engineers, vol.8,
no.2, pp.80-90 (in Japanese) (1995)[77] 吉川恒夫，上田仁：摩擦表面を有する仮想対象物の 3 次元動的操作感提示，ヒューマン・インタフェース研究論文集，4 巻 1 号，49-54 頁 (1995)
Tsuneo Yoshikawa and Hitoshi Ueda: Display of 3-Dimensional Operating Feel ofDynamic Virtual Objects with Frictional Surface, Progress in Human Interface, vol.4,
no.1, pp49-54 (in Japanese) (1995)[78] 鄭心知，中島了，吉川 恒夫：3 指ハンドを用いた操りにおける指の滑りと対象物運動の制御，日本ロボット学会誌，13 巻 6 号，813-821 頁 (1995)
Xin-Zhi Zheng, Ryo Nakashima, and Tsuneo Yoshikawa: Dynamic Control of Finger
Sliding and Object Motion in Manipulation with a Three-Fingered Hand, Journal of the
Robotics Society of Japan, vol.13, no.6, pp.813-821 (in Japanese) (1995)[79] 永井清，吉川恒夫：アーム・多指ハンド機構による把持と操り，日本ロボット学会誌，13 巻 7 号，994-1005 頁 (1995)
Kiyoshi Nagai and Tsuneo Yoshikawa: Grasping and Manipulation by Robotic
Arm/Multifingered-Hand Mechanisms, Journal of the Robotics Society of Japan, vol.13,
no.7, pp.994-1005 (in Japanese) (1995)[80] 余永，横小路泰義，中須信昭，吉川恒夫：複数のロボット指による環境と接触している物体の準動的操作，日本ロボット学会誌，13 巻 8 号，875-885 頁 (1995)
Yong Yu, Yasuyoshi Yokokohji ， Nobuaki Nakasu, and Tsuneo

Yoshikawa:

Quasi-Dynamic Manipulation of Constrained Object by Multiple Robot Fingers,
Journal of the Robotics Society of Japan, vol.13, no.8, pp.875-885 (in Japanese) (1995)[81] 栗栖正充，吉川恒夫：押し作業における対象物の軌道計画，日本ロボット学会誌，13
巻 8 号，1115-1121 頁 (1995)
Masamitsu Kurisu and Tsuneo Yoshikawa: Trajectory Planning for an Object inPushing Operation, Journal of the Robotics Society of Japan, vol.13, no.8, pp.1115-1121(in Japanese) (1995)[82] 山本穰，山田直樹，森 美郎，吉川 恒夫：毛細管絞りを有する静圧気体潤滑ピストン
リングの作動特性 (第 1 報)- 基礎特性と作動特性の数値シミュレーション -，トライボロ
ジスト，40 巻 11 号，930-937 頁 (1995)
Minoru Yamamoto, Naoki Yamada, Haruo Mori, and Tsuneo Yoshikawa: Operating
Characteristics of an Externally Pressurized Gas Lubricated Piston Ring with

CapiIlary Restrictors (Part 1) - Basic Characteristics and Numerical Simulation -,Tribologist, vol.40, no.11, pp.930-937 (in Japanese) (1995)[83] 山本穰，山田直樹，森 美郎，吉川 恒夫：毛細管絞りを有する静圧気体潤滑ピストン
リングの作動特性 (第 2 報)- 漏れ流量と摩耗量に関する実験 -，トライボロジスト，40
巻 11 号，938-943 頁 (1995)
Minoru Yamamoto, Naoki Yamada, Haruo Mori, and Tsuneo Yoshikawa: Operating
Characteristics of an Externally Pressurized Gas Lubricated Piston Ring with
Capillary Restrictors (Part 2) - Experiments on Leakage Flow Rate and Wear -,Tribologist, vol.40, no.11, pp.938-943 (in Japanese) (1995)[84] 吉川恒夫，余永，小池雅司：ロボットを用いた探り動作による対象物と環境の接触位
置情報の推定，日本機械学会誌(Ｃ編), 62 巻 595 号，132-138 頁 (1996)
Tsuneo Yoshikawa，Yong Yu, and Masashi Koike: Estimation of Contact Position
between Object and Environment Based on Probing of Robot Manipulator,
Transactions of the Japan Society of Mechanical Engineers. C, vol.62, No.595,
pp.132-138 (in Japanese) (1996)[85] 栗栖正充，吉川恒夫：移動マニピュレータの軌道計画と動的制御，日本機械学会誌(Ｃ編), 62 巻 596 号，242-248 頁 (1996)
Masamitsu Kurisu and Tsuneo Yoshikawa: Trajectory Planning and Dynamic Control
of a Mobile Manipulator, Transactions of the Japan Society of Mechanical Engineers. C,
vol.62, No.596 pp.242-248 (in Japanese) (1996)[86] 吉川恒夫，上田 淳：伝達時間遅れを有するマスタ・スレーブシステムの解析と制御，
日本機械学会論文集(Ｃ編)，62 巻 602 号，72-79 頁 (1996)
Tsuneo Yoshikawa and Jun Ueda: Analysis and Control of Master-Slave Systems withTime Delay, Transactions of the Japan Society of Mechanical Engineers. C, vol.62,
No.602, 72-79 (in Japanese) (1996)[87] 吉川恒夫，岡本球夫：摩擦を考慮した環境と剛体接触する仮想道具の操作感提示，計
測自動制御学会論文集, 32 巻 5 号，741-749 頁 (1996)
Tsuneo Yoshikawa and Tamao Okamoto: Display of Operating Feel of Virtual Tools in
Rigid Frictional Contact with Environment, Trans. Society of Instrument and Control
Engineers, vol.32, no.5 pp.741-749 (in Japanese) (1996)[88] 原田研介，吉川恒夫：フレキシブルアームの動的軌道制御における内部安定化，日本
ロボット学会誌，14 巻 3 号，444-453 頁 (1996)
Kensuke Harada and Tsuneo Yoshikawa: Internal Stabilization in Dynamic Trajectory
Control of Flexible Manipulators, Journal of the Robotics Society of Japan, vol.14,
no.3, pp.444-453 (in Japanese) (1996)[89] 吉川恒夫，横小路泰義，細谷徳男，井村順一：環境とオペレータ特性の不確実さを考慮したマスタ・スレーブシステムのロバスト制御，日本ロボット学会誌，14 巻 6 号，836-845
頁 (1996)

Tsuneo Yoshikawa，Yasuyoshi Yokokohji，Norio Hosotani, and Jun-ichi Imura: RobustControl of Master-Slave Systems Considering Uncertainties of Environment andOperator, Journal of the Robotics Society of Japan, vol.14, no.6, pp.444-453 (inJapanese) (1996)[90] 吉川恒夫，井村順一，春名隆志：ハイブリッドニューラルネットワークによる非線形
動的システムの同定と制御，システム制御情報学会誌, 9 巻 3 号，127-136 頁 (1996)
Tsuneo Yoshikawa，Jun-ichi Imura, and Ryuji Haruna: Identification and Control of
Nonlinear Dynamic Systems by Hybrid Neural Networks, Transactions of the Instituteof Systems, Control and Information Engineers, vol.9, no.3, pp.127-136 (in Japanese)(1996)[91] 吉川恒夫，栗栖 正充，水野 光政：ロボットによる対象物の押し作業の最適計画，日本ロボット学会誌，14 巻 6 号，846-852 頁 (1996)
Tsuneo Yoshikawa，Masamitsu Kurisu, and Mitsumasa Mizuno: Optimal Planning of
Pushing Operation for an Object by a Robot, Journal of the Robotics Society of Japan,
vol.14, no.6, pp.846-852 (in Japanese) (1996)[92] 栗栖正充，吉川恒夫：押し作業における対象物の軌道追従制御，日本ロボット学会誌，14 巻 8 号，1200-1207 頁 (1996)
Masamitsu Kurisu and Tsuneo Yoshikawa: Tracking Control for an Object in Pushing
Operation, Journal of the Robotics Society of Japan, vol.14, no.8, pp.1200-1207 (inJapanese) (1996)[93] 吉川恒夫，原田健介，細田 耕，市川雅司：柔軟関節を持つ直行型ロボット機構の軌
道制御，日本機械学会論文集(C 編)，63 巻 612 号, 225-231 頁 (1997)
Tsuneo Yoshikawa，Kensuke Harada, Koh Hosoda, and Masashi Ichikawa: Trajectory
Control of Cartesian-Type Robotic Mechanisms with Flexible Joints, Transactions of
the Japan Society of Mechanical Engineers. C, vol.63, No.612, pp.225-231 (in Japanese)(1997)[94] 井村順一，小林啓吾，吉川恒夫：非ホロノミックチェインドシステムの過渡応答を考慮した指数安定化，計測自動制御学会論文集，33 巻 5 号，375-383 頁 (1997)
Jun-ichi Imura, Keigo Kobayashi, and Tsuneo Yoshikawa: Exponential Stabilization of
Nonholonomic Chained Systems with Specified Transient Response, Trans. Society of
Instrument and Control Engineers, vol.33, no.5 pp.375-383 (in Japanese) (1997)[95] 小林啓吾，井村順一，吉川恒夫：自由関節を含む 3 自由度マニピュレータの非ホロノミック制御，計測自動制御学会論文集，33 巻 8 号，799-804 頁 (1997)
Keigo Kobayashi，Jun-ichi Imura, and Tsuneo Yoshikawa: Nonholonomic Control of
3-D.O.F. Manipulator with a Free Joint, Trans. Society of Instrument and Control
Engineers, vol.33, no.8 pp.799-804 (in Japanese) (1997)[96] 逸見 和之，吉川 恒夫：バーチャルレッスンの概念とそのバーチャル習字システムへの応用， 日本バーチャルリアリティ学会論文集，3 巻 1 号，417-424 頁 (1998)

Kazuyuki Henmi and Tsuneo Yoshikawa: Virtual Lesson and Its Application to Virtual
Calligraphy System, Transactions of the Virtual Reality Society of Japan, vol.3, no.1
pp.417-424 (in Japanese) (1998)[97] 余 永，吉川 恒夫，辻尾 昇三：対象物と環境の接触位置を推定する探り動作の自動生成， 日本ロボット学会誌，16 巻 3 号，135-142 頁 (1998)
Yong Yu, Tsuneo Yoshikawa, and Showzow Tsujio:
Automatic Generation of Probing Operation for Estimating Contact Position between
Object and Environment, Journal of the Robotics Society of Japan, vol.16, no.3,
pp.135-142 (in Japanese) (1998)[98] 原田研介，吉川 恒夫：マクロ-マイクロシステムによるフレキシブルアームの 動的な
位置と力のハイブリッド制御における内部安定化，日本機械学会誌， 64 巻 620 号，1327-1332 頁 (1998)
Kensuke Harada and Tsuneo Yoshikawa: Internal Stabilization in Dynamic Hybrid
Position/Force Control of Flexible Manipulators by Macro-Micro System, Transactionsof the Japan Society of Mechanical Engineers. C, vol.64, No.620, pp.1327-1332 (inJapanese) (1998)[99] 吉川 恒夫，井村順一，高崎真哉：技能動作の複数手本軌道に対する時刻対応づけ， 計
測自動制御学会論文集，34 巻 7 号，850-856 頁 (1998)
Tsuneo Yoshikawa, Jun-ichi Imura, and Shinya Takasaki: Determining Time
Correspondence Among Plural Sample Trajectories of Skilled Motion, Trans. Society of
Instrument and Control Engineers, vol.34, no.7 pp.850-856 (in Japanese) (1998)[100] 吉川恒夫，名倉彰宏：無負荷時非接触型力覚提示装置，日本ロボット学会誌， 16
巻 8 号，1146-1151 頁 (1998)
Tsuneo Yoshikawa and Akihiro Nagura: A Touch and Force Display System for Haptic
Interface, Journal of the Robotics Society of Japan, vol.16, no.8, pp.1146-1151 (inJapanese) (1998)[101] 名倉彰宏，吉川 恒夫：３次元空間無負荷時非接触型力覚提示装置，日本バーチャル
リアリティ 学会論文集，3 巻 3 号，75-82 頁 (1998)
Tsuneo Yoshikawa and Akihiro Nagura: A Touch and Force Display System for 3D
Haptic Interface, Transactions of the Virtual Reality Society of Japan, vol.3, no.3
pp.75-82 (in Japanese) (1998)[102] 吉川 恒夫，田村 正人：フレキシブルアームに対する仮想受動関節モデル の有効性の検討，日本ロボット学会誌, 17 巻 2 号，250-259 頁 (1999)
Tsuneo Yoshikawa and Masato Tamura: Study on Effectiveness of Virtual Joint Modelfor Flexible Manipulators, Journal of the Robotics Society of Japan, vol.17, no.2,
pp.250-259 (in Japanese) (1999)[103] 余 永，竹内 賢一，吉川 恒夫：ロボットハンドによるパワーグラスプの 最適化，
日本ロボット学会誌, 17 巻 4 号，557-566 頁 (1999)

Yong Yu, Kenichi Takeuchi, and Tsuneo Yoshikawa: Optimization of Robot Hand Power
Grasps, Journal of the Robotics Society of Japan, vol.17, no.4, pp.557-566 (in Japanese)(1999)[104] 吉川 恒夫，吉本 剛生：組立作業のハプティックバーチャルリアリティ シミュレーション，日本バーチャルリアリティ学会論文誌, 4 巻 1 号，313-320 頁 (1999)
Tsuneo Yoshikawa and Kouki Yoshimoto: Haptic Virtual Reality Simulation of
Assembly Operation, Transactions of the Virtual Reality Society of Japan, vol.4, no.1
pp.313-320 (in Japanese) (1999)[105] 小林 啓吾，井村 順一，吉川 恒夫：二つの非駆動関節を持つ平面４自由度 マニ
ピュレータの可制御性，日本ロボット学会誌, 17 巻 6 号，811-817 頁 (1999)
Keigo Kobayashi, Jun-ichi Imura, and Tsuneo Yoshikawa: Controllability of a 4-D.O.F.
Planar Manipulator with Two Unactuated Joints, Journal of the Robotics Society ofJapan, vol.17, no.6, pp.811-817 (in Japanese) (1999)[106] 小林 啓吾，井村 順一，吉川 恒夫：一つの非駆動関節を持つ平面劣駆動 マニピ
ュレータの可制御性，日本ロボット学会誌, 17 巻 6 号，1167-1172 頁 (1999)
Keigo Kobayashi，Jun-ichi Imura, and Tsuneo Yoshikawa: Controllability of Planar
Manipulators with One Unactuated Joint, Journal of the Robotics Society of Japan,
vol.17, no.8, pp.1167-1172 (in Japanese) (1999)[107] 横小路 泰義，河合 雅信，吉川 恒夫：振動と教師視覚提示を用いた運動技能伝達法の提案と基礎実験， 日本バーチャルリアリティ学会論文誌, 4 巻 2 号，431-438 頁 (1999)
Yasuyoshi Yokokohji, Masanobu Kawai, and Tsuneo Yoshikawa: Proposal of a Motor
Skill Transfer Method Using Vibration Cue and Teacher's Sight and Its Preliminary
Experiment, Transactions of the Virtual Reality Society of Japan, vol.4, no.2
pp.431-438 (in Japanese) (1999)[108] 横小路 泰義，菅原 嘉彦，吉川 恒夫：画像と加速度計を用いた HMD 上での映像の正確な重ね合わせ， 日本バーチャルリアリティ学会論文誌, 4 巻 4 号，589-598 頁 (1999)
Yasuyoshi Yokokohji, Yoshihiko Sugawara，and Tsuneo Yoshikawa: Accurate Image
Overlay on Head-Mounted Displays Using Vision and Accelerometers, Transactions of
the Virtual Reality Society of Japan, vol.4, no.4 pp.589-598 (in Japanese) (1999)[109] 横小路 泰義，坂本 守行，吉川 恒夫：ソフトフィンガー型の多指ハンドによる物体の操りのための接触点における摩擦モーメント補償，日本ロボット学会誌, 17 巻 6 号，876-886 頁 (1999)
Yasuyoshi Yokokohji, Moriyuki Sakamoto, and Tsuneo Yoshikawa: Frictional Spin
Moment Compensation at Contact Points for Object Manipulation by a Multifingered
Hand with Soft Fingertips, Journal of the Robotics Society of Japan, vol.17, no.6,
pp.876-886 (in Japanese) (1999)[110] 吉川恒夫，菊植亮：人間から人間への技能伝達のための指先圧迫機能を 付加した力覚提示装置，日本バーチャルリアリティ学会論文誌, 5 巻 1 号，803-810 頁 (2000)

Tsuneo Yoshikawa and Ryo Kikuue: Haptic Display Device with Fingertip Pressing
Function for Motor Skill Transfer from Human to Human, Transactions of the Virtual
Reality Society of Japan, vol.5, no.1 pp.803-810 (in Japanese) (2000)[111] 吉川恒夫，川井昌之：関節バネを持つ提示装置を用いた静的仮想対象物 の力覚提示
方法，日本機械学会論文集(C 編)，66 巻 648 号，2693-2699 頁 (2000)
Tsuneo Yoshikawa and Masayuki Kawai: A Study on Haptic Display of Static VirtualObjects by Link Mechanisms Composed of Joints with Springs, Transactions of theJapan Society of Mechanical Engineers. C, vol.66, No.648, pp.2693-2699 (in Japanese)(2000)[112] 横小路泰義，坂本守行，吉川恒夫：カメラ画像を併用した多指ハンド により操られる物体の位置姿勢推定法--ソフトフィンガー型ハンドによる操り制御への適用--，日本ロボット学会誌，18 巻 3 号，401-410 頁 (2000)
Yasuyoshi Yokokohji, Moriyuki Sakamoto, and Tsuneo Yoshikawa: Vision-Aided Pose
Estimation of an Object Manipulated by a Multifingered Hand -Application to
Manipulation Control by a Soft-Fingered Hand-, Journal of the Robotics Society ofJapan, vol.18, no.3, pp.401-410 (in Japanese) (2000)[113] 吉川恒夫，小林啓吾，渡辺哲陽：非ホロノミックな拘束を持つ３自由度 マニピュレータの目標軌道の生成と収束制御，日本ロボット学会誌， 18 巻 4 号，584-589 頁 (2000)
Tsuneo Yoshikawa, Keigo Kobayashi, and Tetsuyo Watanabe: Design of a Desirable
Trajectory and Convergent Control for 3-D.O.F Manipulator with a Nonholonomic
Constraint, Journal of the Robotics Society of Japan, vol.18, no.4, pp.584-589 (inJapanese) (2000)[114] 余永，吉川恒夫：物体間の接触の安定性に関する評価，日本ロボット学会誌， 18
巻 7 号，1026-1033 頁 (2000)
Yong Yu and Tsuneo Yoshikawa: Evaluation of Contact Stability between Objects,
Journal of the Robotics Society of Japan, vol.18, no.7, pp.1026-1033 (in Japanese)(2000)[115] 川井昌之，吉川恒夫：内力・外力分離型介在インピーダンスを用いた 仮想物体把持の力覚提示，日本バーチャルリアリティ学会論文誌, 6 巻 1 号，43-48 頁 (2001)
Masayuki Kawai and Tsuneo Yoshikawa: Haptic Display of Grasping with Coupling
Impedance For Internal and External Force, Transactions of the Virtual Reality Societyof Japan, vol.6, no.1 pp.43-48 (in Japanese) (2001)[116] 吉川恒夫，金岡克弥：柔軟マクロ／剛体マイクロマニピュレータの 振動抑制を考慮
した準静的軌道制御，日本ロボット学会誌，19 巻 1 号，109-115 頁 (2001)
Tsuneo Yoshikawa and Katsuya Kanaoka: Quasi-Static Trajectory Tracking Control
Considering Vibration Suppression of Flexible-Macro/Rigid-micro Manipulators,
Journal of the Robotics Society of Japan, vol.19, no.1, pp.109-115 (in Japanese) (2001)[117] 川井昌之，吉川恒夫：インピーダンス生成回路を利用したハプティクインターフェ

ース （静止した剛体表面の提示），日本機械学会論文集(C 編)，67 巻 663 号，3533-3539
頁 (2001)
Masayuki Kawai and Tsuneo Yoshikawa: Haptic Interface with Impedance Generator
by Electric Circuit - Application to Hard Surface Display, Transactions of the Japan
Society of Mechanical Engineers. C, vol.67, No.663, pp.3533-3539 (in Japanese) (2001)[118] 吉川恒夫，山口卓也，野口将人，川井昌之：２本指操作のための６自由度指先装着
型力覚提示装置の開発，日本ロボット学会誌， 20 巻 8 号，893-899 頁 (2002)
Tsuneo Yoshikawa, Takuya Yamaguchi, Masato Noguchi, and Masayuki Kawai:
Development of 6DOF Finger-mounted Haptic Device for Operation with Two Fingers,
Journal of the Robotics Society of Japan, vol.20, no.8, pp.893-899 (in Japanese) (2002)[119] 吉川恒夫，金岡克弥，太田篤治：時系列センサ情報に基づくフレキシブルマニピュ
レータの状態推定と動力学モデル同定，日本ロボット学会誌， 20 巻 4 号，446-452 頁(2002)
Tsuneo Yoshikawa, Katsuya Kanaoka, and Atsuharu Ohta: State Estimation and
Dynamic Model Identification of Flexible Manipulators based on Time-Series Sensor
Information, Journal of the Robotics Society of Japan, vol.20, no.4, pp.446-452 (inJapanese) (2002)[120] 上田淳，吉川恒夫：高速高精度駆動のためのタスクの優先順位を考慮した機械系の同相化設計法，日本機械学会論文集(C 編)，68 巻 665 号，60-67 頁 (2002)
Jun Ueda and Tsuneo Yoshikawa: Task Priority Based Mode Shaping Method for
In-Phase Design of Flexible Structures Aiming at High Speed and Accurate Positioning,
Transactions of the Japan Society of Mechanical Engineers. C, vol.68, No.665, pp.60-67(in Japanese) (2002)[121] 吉川恒夫，渡辺哲陽，大東睦夫：複数対象物に対するパワーグラスプの最適化，日本機械学会論文集，68 巻 668 号，1223-1230 頁 (2002)
Tsuneo Yoshikawa, Tetsuyou Watanabe, and Mutsuo Dait: Optimization of Power
Grasps for Multiple Objects, Transactions of the Japan Society of MechanicalEngineers. C, vol.68, No.668, pp.1223-1230 (in Japanese) (2002)[122] 上田淳，吉川恒夫：柔軟ベースをもつマニピュレータのロバスト腕姿勢，日本ロボット学会誌，20 巻 5 号，537-542 頁 (2002)
Jun Ueda and Tsuneo Yoshikawa: Robust Arm Configuration of Manipulator Mounted
on Flexible Base, Journal of the Robotics Society of Japan, vol.20, no.5, pp.537-542 (inJapanese) (2002)[123] 横小路泰義，北岡佑輝，吉川恒夫：動作者の視点からのカメラ画像によるモーショ
ンキャプチャとロボット作業教示への応用， 情報処理学会論文誌：コンピュータビジョンとイメージメディア，43 巻 SIG4 号，105-116 頁 (2002)
Yasuyoshi Yokokohji，Yuki Kitaoka, and Tsuneo Yoshikawa: Motion Capturing from
Demonstrator's Viewpoint and Its Application to Robot Teaching, Information

Processing Society of Japan Transactions on computer vision and image media, vol.43,
no.SIG4, pp.105-116 (in Japanese) (2002)[124] 菊植亮，吉川恒夫：ロボットのためのインピーダンス知覚，日本ロボット学会誌，21 巻 1 号，103-108 頁 (2003)
Ryo Kikuuwe and Tsuneo Yoshikawa: Robot Perception of Impedance, Journal of the
Robotics Society of Japan, vol.21, no.1, pp.103-108 (in Japanese) (2003)[125] 今井田卓，横小路泰義，土井利次，小田光茂，吉川恒夫：大きな通信時間遅れの下での直接バイラテラル制御による技術試験衛星 VII 型搭載ロボットアームの地上遠隔操作
実験，日本ロボット学会誌，21 巻 3 号，309-320 頁 (2003)
Takashi lmaida, Yasuyoshi Yokokohji, Toshitsugu Doi, Mitsushige Oda, Tsuneo
Yoshikawa, Ground-Space Teleoperation of a Robot Arm Mounted on Engineering Test
Satellite No. VII by Direct Bilateral Coupling under a Long Time Delay Condition,
Journal of the Robotics Society of Japan, vol.21, no.3, pp.309-320 (in Japanese) (2003)[126] 渡辺哲陽，吉川恒夫：要求外力集合を用いた把持の最適化，日本ロボット学会誌，21 巻 3 号，321-326 頁 (2003)
Tetsuyou Watanabe and Tsuneo Yoshikawa: Optimization of Grasping by Using a
Required External Force Set, Journal of the Robotics Society of Japan, vol.21, no.3,
pp.321-326 (in Japanese) (2003)[127] 金岡克弥，吉川恒夫：フレキシブルマニピュレータの手先加速度操作性，日本ロボット学会誌，21 巻 3 号，327-333 頁 (2003)
Katsuya Kanaoka and Tsuneo Yoshikawa: End-Effector Acceleration Manipulability of
Flexible Manipulators, Journal of the Robotics Society of Japan, vol.21, no.3,
pp.327-333 (in Japanese) (2003)[128] 上田淳，吉川恒夫：柔軟ベースをもつマニピュレータの振動モード補償器によるロバスト性の向上，日本ロボット学会誌，21 巻 4 号，395-400 頁 (2003)
Jun Ueda and Tsuneo Yoshikawa: Mode Shape Compensator for Improving Robustnessof Manipulator Mounted on Flexible Base, Journal of the Robotics Society of Japan,
vol.21, no.4, pp.395-400 (in Japanese) (2003)[129] 菊植亮，吉川恒夫：インピーダンス知覚を用いた円柱状曲表面の認識，計測自動制
御学会論文集， 39 巻 10 号，970-997 頁 (2003)
Ryo Kikuue and Tsuneo Yoshikawa: Recognizing Cylindrical Curved Surface Using
Impedance Perception, Trans. Society of Instrument and Control Engineers, vol.39,
no.10 pp.970-997 (in Japanese) (2003)[130] 菊植亮，吉川恒夫：インピーダンス知覚を用いた環境表面属性の認識，日本ロボット学会誌， 22 巻 2 号，239-244 頁 (2004)
Ryo Kikuuwe and Tsuneo Yoshikawa: Recognizing Environment Surface Properties
Using Impedance Perception, Journal of the Robotics Society of Japan, vol.22, no.2,
pp.239-244 (in Japanese) (2004)

[131] 藤原政記，横小路泰義，吉川恒夫：動的多指可操作性の提案とマスタ・スレーブハ
ンド設計指標 への拡張，日本ロボット学会誌，22 巻 2 号，264-272 頁 (2004)
Masayuki Fujiwara, Yasuyoshi Yokokohji and Tsuneo Yoshikawa: Dynamic
Multi-Fingered Manipulability for Articulated Hands and its Extension to a Design
Index for Master-Slave Hands, Journal of the Robotics Society of Japan, vol.22, no.2,
pp.264-272 (in Japanese) (2004)[132] 渡辺哲陽，吉川恒夫：要求加速度・平衡力集合を用いた物体の把持の最適化， 日本
ロボット学会誌，22 巻 3 号，370-376 頁 (2004)
Tetsuyou Watanabe and Tsuneo Yoshikawa: Optimization of Grasping an Object byUsing Required Acceleration and Equilibrium-Force Sets, Journal of the Robotics
Society of Japan, vol.22, no.3, pp.370-376 (in Japanese) (2004)[133] 横小路泰義，木下順史，吉川恒夫：３次元空間内の複数の仮想物体を提示するための 遭遇型ハプティックデバイスの軌道計画，計測自動制御学会論文集，40 巻 2 号，139-147
頁 (2004)
Yasuyoshi Yokokohji，Junji Kinoshita, and Tsuneo Yoshikawa: Path Planning for
Encountered-type Haptic Devices that Render Multiple Objects in 3D Space, Trans.
Society of Instrument and Control Engineers, vol.40, no.2 pp.139-147 (in Japanese)(2003)[134] 西田信一郎，吉川恒夫：宇宙用アクティブリンプロボット関節の開発， 日本航空宇宙学会論文集，52 巻 608 号，393-401 頁 (2004)
Shin-ichiro Nishida and Tsuneo Yoshikawa: Development of an Active Limp Controlled
Space Robot Joint, Journal of the Japan Society for Aeronautical and Space Sciences,
vol.52, no.608, pp.393-401 (in Japanese) (2004)[135] 西田信一郎，吉川恒夫：関節力覚制御アームによる衛星捕獲，日本航空宇宙学会論文集， 53 巻 613 号，81-88 頁 (2005)
Shin-ichiro Nishida and Tsuneo Yoshikawa: Capturing of Spacecraft by a Joint
Impedance Controlled Robot Arm, Journal of the Japan Society for Aeronautical andSpace Sciences, vol.53, no.613, pp.81-88 (in Japanese) (2005)[136] 西田信一郎，吉川恒夫：軌道上組立作業ロボット用エンドエフェクタの開発， 日本
航空宇宙学会論文集，53 巻 614 号，130-138 頁 (2005)
Shin-ichiro Nishida and Tsuneo Yoshikawa: Development of Space Robot End-Effecter
for On-Orbit Assembly, Journal of the Japan Society for Aeronautical and Space
Sciences, vol.53, no.614, pp.130-138 (in Japanese) (2005)[137] 才田崇王，太田裕一，横小路泰義，吉川恒夫：足指２自由度を有する拘束装具を用いた 人間の歩行における足平機構の機能解析，日本ロボット学会誌， 23 巻 4 号，443-448
頁 (2005)
Takao Saida, Hirokazu Ohta, Yasuyoshi Yokokohji, and Tsuneo Yoshikawa: Function
Analysis of Human Foot Mechanisms, using Mechanically Constrained 2-DOF Shoes,Journal of the Robotics Society of Japan, vol.23, no.4, pp.443-448 (in Japanese) (2005)[138] 渡辺哲陽，原田研介，江鐘偉，吉川恒夫：能動受動混合拘束の力学， 日本ロボット
学会誌，24 巻 1 号，131-139 頁，(2006)
Tetsuyou Watanabe, Kensuke Harada, Zhongwei Jiang, and Tsuneo Yoshikawa:
Mechanics of Hybrid Active/Passive-Closure Grasps, Journal of the Robotics Society ofJapan, vol.24, no.1, pp.131-139 (in Japanese) (2006)[139] 渡辺哲陽，原田研介，江鐘偉，吉川恒夫：能動受動混合拘束下での物体操作， 日本
ロボット学会誌，25 巻 4 号，643-650 頁，(2007)
Tetsuyou Watanabe, Kensuke Harada, ZhongWei Jiang, and Tsuneo Yoshikawa: Object
Manipulation under Hybrid Active/Passive Closure, Journal of the Robotics Society ofJapan, vol.25, no.4, pp.643-650 (in Japanese) (2007)[140] 吉川恒夫，小枝正直，杉橋宗隆：力覚人工現実感技術を用いた手の器用度と利き手度の定量的評価法の提案， ヒューマンインタフェース学会論文誌，10 巻 3 号，51-58 頁，(2008)
Tsuneo Yoshikawa, Masanao Koeda, and Munetaka Sugihashi: A Quantitative
Evaluation Method of Handedness Using Haptic Virtual Reality Technology, The
Transactions of Human Interface Society, vol.10, no.3, pp.51-58 (in Japanese) (2008)[141] 吉川恒夫，小枝正直，里井喬行：視覚障害者のための力覚提示装置を用いた仮想触地図， ヒューマンインタフェース学会論文誌，11 巻 1 号，155-162 頁，(2009)
Tsuneo Yoshikawa, Masanao Koeda, Takayuki Satoi: Virtual Haptic Map Using Force
Display Device for Visually Impaired, The Transactions of Human Interface Society,vol.11, no.1, pp155-162 (in Japanese) (2009)[142] 木原康之，林浩一郎，藤平祥孝，上野光，村上弘記，吉川恒夫，永井清：外部制御
PC の導入による産業用ロボットの応答特性整形，日本ロボット学会誌，37 巻 5 号，39-46
頁，(2019)
Yasuyuki Kihara, Koichiro Hayashi, Yoshinori Fujihira, Hikaru Ueno, Hiroki
Murakami, Tsuneo Yoshikawa, Kiyoshi Nagai: Reshaping the Response Characteristicof Industrial Robot Using External PC Controller, Journal of the Robotics Society ofJapan, vol.37, no.5, pp.39-46 (in Japanese) (2019)

Refereed Conference Papers
English Papers (Japanese Papers are not listed)[1] Hajime Akashi, Tsuneo Yoshikawa, and Hiroyuki Imai: Urban Traffic Control
Systems Based on Optimal Control Theory, Proc. of 5the IFAC World Congress, paper
no.12.5 (1972)[2] Tsuneo Yoshikawa: Minimal-Order Optimal Filters for Discrete-Time Linear

Stochastic Systems, Proc. 6th Hawaii International Conference on System Sciences,pp.306-308 (1973)[3] Tsuneo Yoshikawa: Decentralized Control of Discrete-Time Stochastic Systems,
Proc. of the 3rd IFAC Symposium on Sensitivity, Adaptivity, and Optimality,
pp.444-451 (1973)[4] Tsuneo Yoshikawa: A Steering Law for a Roof Type Configuration of Single Gimbal
Control Moment Gyro System, Preprints of 6th IFAC World Congress, part IVC, paper
no.14.3 (1975)[5] Tsuneo Yoshikawa: Minimal-Order of Observer for Linear Discrete-Time Systems,
Proc. of the 7th Annual Southeastern Symposium on System Theory, pp.311-313 (1975)[6] Tsuneo Yoshikawa and Hideo Hanafusa: A Method for Locating Stations of Public
Transportation Systems, Prep. IFAC Symposium. on Environmental Systems Planning,
Design, and Control, pp.333-340 (1977)[7] Tsuneo Yoshikawa: Decomposition of Dynamic Team Decision Problems, Proc. of the
1977 Joint Automatic Control Conference, vol.2, pp.1101-1106 (1977)[8] Tsuneo Yoshikawa and Hiroaki Kobayashi: Separation Property and SuboptimalControl of Decentralized Stochastic Control Systems, Proc. of 1979 International
Symposium on Circuits and Systems, pp.427-430 (1979)[9] Hideo Hanafusa, Tsuneo Yoshikawa, and Yoshihiko Nakamura: Analysis andControl of An Articulated Robot Arm with Redundancy, Prep. of the IFAC '81 World
Congress, vol.14, pp.78-83 (1981)[10] Hideo Hanafusa, Tsuneo Yoshikawa, Yoshihiko Nakamura, and Munehisa Takeda:
Contouring Control of An Articulated Robot Arm with Manipulation Variable Feedback,Proc. of 11th International Symposium on Industrial Robots, pp.429-436, (1981)[11] Hideo Hanafusa, Tsuneo Yoshikawa, and Yoshihiko Nakamura: Design andControl of Additional Wrist Mechanism for Fine Motion Control of Manipulators,
Preprints of the IFAC Symposium on Components and Instruments for Distributed
Control Systems, pp.133-139 (1982)[12] Tsuneo Yoshikawa and Toshiharu Sugie: Analysis of Multivariable Servo Systems
Considering Sensor Dynamics, Proceedings of the 1983 American Control Conference,
pp.859-864 (1983)[13] Tsuneo Yoshikawa, Hitoshi Oka, Tomio Yoshikawa and Hideo Hanafusa:
Decentralized Control of Moving Vehicles on a Loop Line, Preprints of the 3rd
IFAC/IFORS Symposium on Large Scale Systems, pp.599-604 (1983)[14] Tsuneo Yoshikawa, Toshiharu Sugie and Hideo Hanafusa: On Synthesis of Robust
Servo Systems, Preprints of the 9th IFAC World Congress, vol.IX, pp.196-201 (1984)[15] Tsuneo Yoshikawa: Analysis and Control of Robot Manipulators with Redundancy,
Robotics Research: The First International Symposium (M. Brady and R. Paul ed.), The

MIT Press, Cambridge, MA, pp.735-757 (1984)[16] Tsuneo Yoshikawa: Manipulability of Robotic Mechanisms, Preprints of the 2nd
International Symposium of Robotics Research, pp.91-98 (1984)[17] Yoshihiko Nakamura, Hideo Hanafusa, Yasuyoshi Yokokohji and Tsuneo
Yoshikawa: Efficient Computation and Kinematic Representation for Robot
Manipulator Simulation, Proceedings of the 15th ISIR, pp.1059-1066 (1985)[18] Hideo Hanafusa, Tsuneo Yoshikawa, Yoshihiko Nakamura and Kiyoshi Nagai:
Structural Analysis and Robust Prehension of Robotic Hand-Arm System, Proceedingsof '85 International Conf. on Advanced Robotics, pp. 311-318 (1985)[19] Tsuneo Yoshikawa: Analysis and Design of Articulated Robot Arms From theViewpoint of Dynamic Manipulability, Preprints of the 3rd International Symposium of
Robotics Research, pp.150-156 (1985)[20] Toshiharu Sugie, Tsuneo Yoshikawa, and Toshiro Ono: Robust Controller Designfor Robot Manipulators, Proc. of Japan-USA Symposium on Flexible Automation,
pp.77-84 (1986)[21] Tsuneo Yoshikawa, and Kiyoshi Nagai: Evaluation and Determination of Grasping
Forces for Multi- fingered Hands, Proc. of IEEE International Conference on Robotics
and Automation, pp.245-248 (1988)[22] Tsuneo Yoshikawa, and Yasuyoshi Yokokohji: Analysis of Maneuverability andStability for Master-Slave System, Proc. of the USA-Japan Symposium on Flexible
Automation, pp.433-440 (1988)[23] Tsuneo Yoshikawa, and Taizou Miyazaki: A Six-Axis Force Sensor withThree-Dimensional Cross-Shape Structure, Proc. of the IEEE International Conferenceon Robotics and Automation, pp.249-255 (1989)[24] Yasuyoshi Yokokohji and Tsuneo Yoshikawa: Control of Master-Slave
Manipulators for Object Teleoperation, Preprints of the 5th International Symposiumof Robotics Research, pp.17-24 (1989)[25] Yasuyoshi Yokokohji and Tsuneo Yoshikawa: Control of Master-Slave
Manipulators for Object Teleperception, Robotics Research: The Fifth International
Symposium (Hirofumi Miura and Suguru Arimoto ed.), The MIT Press, Cambridge, MA,
pp.217-224 (1990)[26] Tsuneo Yoshikawa and Xin-Zhi Zheng: Coordinated Dynamic Hybrid
Position/Force Control for Multiple Robot Manipulators Handling One Constrained
Object, Proc. of the 1990 IEEE International Conference on Robotics and Automation,
pp.1178-1183 (1990)[27] Tsuneo Yoshikawa and Akio Sudou: Dynamic Hybrid Position/Force Control of
Robot Manipulators: On-Line Estimation of Unknown Constraint, Proc. of the 1990
IEEE International Conference on Robotics and Automation, pp.1231-1236 (1990)

[28] Tsuneo Yoshikawa: Translational and Rotational Manipulability of Robotic
Manipulators, Proc. of the 1990 American Control Conference, pp.228-233 (1990)[29] Yasuyoshi Yokokohji and Tsuneo Yoshikawa: Bilateral Control of Master-Slave
Manipulators for Ideal Kinesthetic Coupling, Proc. of IEEE International Workshop on
Intelligent Robots and Systems '90: IROS'90, pp.355-362 (1990)[30] Yasuyoshi Yokokohji and Tsuneo Yoshikawa: Design Guide of Master Arms
Considering Operator Dynamics, Proc. of Japan-USA Symposium on Flexible
Automation --A Pacific Rim Conference--, pp.35-40 (1990)[31] Tsuneo Yoshikawa, Hiroki Murakami, and Koh Hosoda: Modeling and Control of aThree Degree of Freedom Manipulator with Two Flexible Links, Proc. of Japan-USA
Symposium on Flexible Automation --A Pacific Rim Conference--, pp.965-972 (1990)[32] Tsuneo Yoshikawa, Yasuyoshi Yokokohji, and Takeshi Toyoshima: Efficient
Computational Algorithms for Trajectory Control of Multi Arm Space Manipulators,
Proc. of the International Symposium on Artificial Intelligence and Automation inSpace '90: i-SAIRAS'90, pp.303-306 (1990)[33] Tsuneo Yoshikawa and Xin-Zhi Zheng: Coordinated Dynamic Hybrid
Position/Force Control for Multiple Robot Manipulators Handling One Constrained
Object, Proc. of Japan-USA Symposium on Flexible Automation --A Pacific Rim
Conference--, pp.401-407 (1990)[34] Tsuneo Yoshikawa and Akio Sudou: Dynamic Hybrid Position/Force Control of
Robot Manipulators: On-Line Estimation of Unknown Constraint, Proc. of Japan-USA
Symposium on Flexible Automation --A Pacific Rim Conference--, pp.1231-1236 (1990)[35] Tsuneo Yoshikawa and Xin-Zhi Zheng: Coordinated Dynamic Control for Multiple
Robot Manipulators Handling an Object, Proc. of the 5th International Conference on
Advanced Robotics, pp.579-584 (1991)[36] Tsuneo Yoshikawa: Translational and Rotational Manipulability of Robotic
Manipulators, Proc. of 1991 International Conference on Industrial Electronics,
Control and Instrumentation, pp.1170-1175, November (1991)[37] Jun-ichi Imura, Toshiharu Sugie, Yasuyoshi Yokokohji, and Tsuneo Yoshikawa:
Robust Control of Robot Manipulators Based on Joint Torque Sensor Information, Proc.
of IEEE/RSJ International Workshop on Intelligent Robots and Systems: IROS'91,
pp.344-349 (1991)[38] Tsuneo Yoshikawa and Masamitsu Kurisu: Identification of the Center of Friction
from Pushing an Object by a Mobile Robot, Proc. of IEEE/RSJ International Workshop
on Intelligent Robots and Systems: IROS'91, pp.449-454 (1991)[39] Tsuneo Yoshikawa and Koh Hosoda: Modeling of Flexible Manipulators Using
Virtual Rigid Links and Passive Joints, Proc. of IEEE/RSJ International Workshop on
Intelligent Robots and Systems: IROS'91, pp.967-972 (1991)

[40] Tsuneo Yoshikawa, Yasuyoshi Yokokohji, and Yong Yu: Assembly Planning
Operation Strategies Based on the Degree of Constraint, Proc. of IEEE/RSJ
International Workshop on Intelligent Robots and Systems: IROS'91, pp.682-687(1991)[41] Jun-ichi Imura, Toshiharu Sugie, and Tsuneo Yoshikawa: Adaptive Robust Controlof Robot Manipulators, Recent Advances in Mathematical Theory of Systems, Control,
Networks and Signal Processing II: Proc. of the International Symposium MTNS-91,
pp.627-632 (1991)[42] Xin-Zhi Zheng, Nobuyuki, Tomochika, and Tsuneo Yoshikawa: Dynamic
Manipulability of Multiple Robotic Mechanisms in Coordinated Manipulation,
Proceedings of IFToMM-Jc International Symposium on Theory of Machines andMechanisms, pp.147-152 (1992)[43] Yasuyoshi Yokokohji and Tsuneo Yoshikawa: Bilateral Control of Multiple D.O.F.
Master-Slave Manipulators with Anthropomorphic Configurations, Proceedings of
IFToMM-Jc International Symposium on Theory of Machines and Mechanisms,
pp.161-166 (1992)[44] Tsuneo Yoshikawa and Akira Umeno: Dynamic Hybrid Control of Manipulators
Considering Object Dynamics, Proceedings of the second International Symposium on
Measurement and Control in Robotics(ISMCR'92), pp.597-604 (1992)[45] Yasuyoshi Yokokohji and Tsuneo Yoshikawa: Bilateral Control of Master-Slave
Manipulators for Ideal Kinesthetic Coupling-- Formulation and Experiment--,
Proceedings of IEEE International Conference on Robots and Automation, pp.849-858(1992)[46] Yasuyoshi Yokokohji, Akira Ogawa, Hitoshi Hasunuma, and Tsuneo Yoshikawa:Operation Modes for Cooperating with Autonomous Functions in Intelligent
Teleoperation Systems, Proceedings of IEEE International Workshop on Robot andHuman Communication, pp.275-281 (1992)[47] Jun-ichi Imura, Toshiharu Sugie and Tsuneo Yoshikawa: Global Robust
Stabilization of Nonlinear Cascaded Systems, Proceedings of IEEE International
Conference on Decision and Control, pp.3031-3036 (1992)[48] Tsuneo Yoshikawa: Hybrid Control Theory of Robot Manipulators, Robotics
Research, The Sixth International Symposium, Takeo Kanade and Richard Paul (eds.),
The International Foundations for Robotics Research, Cambridge, USA, pp.443-452(1993)[49] Tsuneo Yoshikawa, Hiroki Murakami, and Koh Hosoda: Modeling and Control of aThree Degree of Freedom Manipulator with Two Flexible Links, Experimental Robotics
II, (eds. Raja Chatila and Gerd Hirzinger), Springer-Verlag (1993)[50] Tsuneo Yoshikawa, Koh Hosoda, Toshitsugu Doi, and Hiroki Murakami:

Quasi-Static Trajectory Tracking Control of Flexible Manipulator by Macro-Micro
Manipulator System, Proceedings of IEEE International Conference on Robotics andAutomation, Vol.3, pp.210-215 (1993)[51] Kiyoshi Nagai, and Tsuneo Yoshikawa: Dynamic Manipulation/Grasping Controlof Multifingered Robot Hands, Proceedings of IEEE International Conference on
Robotics and Automation, Vol.3, pp.1027-1033 (1993)[52] Tsuneo Yoshikawa, Koh Hosoda, Kensuke Harada, and Masashi Ichikawa:
Trajectory Control of Cartesian Type Industrial Manipulators with Flexible Joints,
Proceedings of the 1993 IEEE/RSJ International Conference on Intelligent Robots andSystems, pp.14-21 (1993)[53] Tsuneo Yoshikawa, Yasuyoshi Yokokohji, and Atsuo Nagayama: Object Handlingby Three-Fingered Hands Using Slip Motion, Proceedings of the 1993 IEEE/RSJ
International Conference on Intelligent Robots and Systems, pp.99-105 (1993)[54] Tsuneo Yoshikawa: Dynamics Shaping in Robot Force Control and Artificial
Reality, Proceedings of the 6th International on Advanced Robotics ('93 ICAR), pp.3-8(1993)[55] Tsuneo Yoshikawa, Yasuyoshi Yokokohji, Tomoharu Matsumoto, and Xin-Zhi
Zheng: Display of Feel for the Manipulation of Dynamic Virtual Objects, Proceedings of
the 6th International Conference on Advanced Robotics ('93 ICAR), pp.217-222 (1993)[56] Yasuyoshi Yokokohji, Akira Ogawa, Hitoshi Hasunuma, and Tsuneo Yoshikawa:Operation Modes for Cooperating with Autonomous Functions in Intelligent
Teleoperation Systems, Proceedings of 1993 IEEE International Conference on
Robotics and Automation, Vol.3, pp.510-515 (1993)[57] Yasuyoshi Yokokohji, Yong Yu, Nobuaki Nakasu, and Tsuneo Yoshikawa:
Quasi-Dynamic Manipulation of Constrained Object by Robot Fingers in Assembly
Tasks, Proceedings of 1993 IEEE/RSJ International Conference on Intelligent Robots
And Systems, pp.144-151 (1993)[58] Jun-ichi Imura, Toshiharu Sugie, and Tsuneo Yoshikawa: Bounded Real Lemma of
Nonlinear Systems and its Application to H infinity State Feedback Control,
Proceedings of 32nd IEEE Conference on Decision and Control, pp.190-195 (1993)[59] Jun-ichi Imura, Hiroshi Maeda, Toshiharu Sugie, and Tsuneo Yoshikawa: Robust
Stabilization of Nonlinear Systems by H infinity State Feedback, Proceedings of 1993
IEEE Conference on Decision and Control, pp.1650-1651 (1993)[60] Yasuyoshi Yokokohji and Tsuneo Yoshikawa: Task Sharing and Intervention in
Human-Robot Cooperating Systems, Preprints of the Third International Symposium
on Experimental Robotics (Kyoto, Japan), pp.236-245 (1993)[61] Tsuneo Yoshikawa, Koh Hosoda, Kensuke Harada, Atsushi Matsumoto and Hiroki
Murakami: Hybrid Position/Force Control of Flexible Manipulators by Macro-MicroManipulator System, Proceedings of the 1994 IEEE International Conference on
Robotics and Automation, pp.2125-2130 (1994)[62] Tsuneo Yoshikawa, Koh Hosoda, Toshitsugu Doi and Hiroki Murakami: Dynamic
Trajectory Tracking Control of Flexible Manipulators by Macro-Micro Manipulator
System, Proceedings of the 1994 IEEE International Conference on Robotics andAutomation, pp.1804-1809 (1994)[63] Yasuyoshi Yokokohji, Norio Hosotani, and Tsuneo Yoshikawa: Analysis ofManeuverability and Stability of Micro-Teleoperation Systems, Proceedings of the 1994
IEEE International Conference on Robotics and Automation, pp.237-243 (1994)[64] Tsuneo Yoshikawa, Kensuke Harada and Masaki Murakami: Dynamic Hybrid
Position/Force Control of Flexible Manipulators by Macro/Micro Manipulator System,
Proceedings of the 1994 Japan-USA Symposium on Flexible Automation, pp.65-72(1994)[65] Xin-Zhi Zheng, Ryo Nakashima and Tsuneo Yoshikawa: Dynamic Control of Finger
Sliding and Object Motion in Manipulation with a Three-Fingered Hand, Proceedingsof the 1994 Japan-USA Symposium on Flexible Automation, pp.73-80 (1994)[66] Hyoukryeol Choi, Wankyun Chung, Youngil Youm and Tsuneo Yoshikawa:
Stiffness Control of Grasped Object Based on Virtual Stiffness Model, Proceedings ofthe 1994 Japan-USA Symposium on Flexible Automation, pp.963-970 (1994)[67] Yasuyoshi Yokokohji, Norio Hosotani, Jun Ueda and Tsuneo Yoshikawa: A Micro
Teleoperation System for Compensating Scaling Effects Based on Environment Model,
Proceedings of the 1994 Japan-USA Symposium on Flexible Automation, pp.709-716(1994)[68] Masamitsu Kurisu and Tsuneo Yoshikawa: Trajectory Planning for an Object inPushing Operation, Proceedings of the 1994 Japan-USA Symposium on Flexible
Automation, pp.1009-1016 (1994)[69] Yong Yu, Yasuyoshi Yokokohji and Tsuneo Yoshikawa: Quasi-Dynamic
Manipulation of a Constrained Object by Force-Limited Robot Fingers, Proceedings ofthe 1994 Japan-USA Symposium on Flexible Automation, pp.993-1000 (1994)[70] Kiyoshi Nagai and Tsuneo Yoshikawa: Impedance Control of Redundant
Macro-Micro Manipulators, Proceedings of the IEEE/RSJ/GI International Conferenceon Intelligent Robots and Systems, pp.1438-1445 (1994)[71] Tsuneo Yoshikawa, Xin-Zhi Zheng and Toshiki Moriguchi: Display of Operating
Feel of Dynamic Virtual Objects with Frictional Surface, Proceedings of theIEEE/RSJ/GI International Conference on Intelligent Robots and Systems, pp.731-738(1994)[72] Tsuneo Yoshikawa and Katsuki Matsudera: Experimental Study on Modeling of
Flexible Manipulators Using Virtual Joint Model, Preprints of the Fourth IFAC

Symposium on Robot Control, pp.427-432 (1994)[73] Tsuneo Yoshikawa and Kensuke Harada: Dynamic Hybrid Position/Force Controlof 2 D.O.F. Flexible Manipulators, Proceeding of the 9th Korea Automatic Control
Conference, International Sessions, pp.340-345 (1994)[74] Hyoukryeol Choi, Wankyun Chung, Youngil Youm and Tsuneo Yoshikawa: A
Method of Compliance Control of Redundant Manipulators, Proceedings of the 9th
Korea Automatic Control Conference, International Sessions, pp.76-81 (1994)[75] Jun-ichi Imura, Toshiharu Sugie and Tsuneo Yoshikawa: Strict H-infinity Control
of Nonlinear Systems Based on Hamilton-Jacobi Inequality, Proceedings of First AsianControl Conference, pp.189-192 (1994)[76] Yasuyoshi Yokokohji and Tsuneo Yoshikawa: Task Sharing and Intervention in
Human-Robot Cooperating Systems, pp.391-405, Experimental Robotics III (eds.
Tsuneo Yoshikawa and Fumio Miyazaki), Springer-Verlag (1994)[77] Tsuneo Yoshikawa and Hitoshi Ueda: Display of 3--Dimensional Operating Feel ofDynamic Virtual Object with Frictional Surface, Proceedings of International
Conference on Virtual Systems and Multimedia '95 in Gifu, pp.183-188 (1995)[78] Kiyoshi Nagai and Tsuneo Yoshikawa: Grasping and Manipulation by
Arm/Multifingered-Hand Mechanisms, Proceedings of the 1995 IEEE International
Conference on Robotics and Automation, pp.1040-1047 (1995)[79] Tsuneo Yoshikawa and Hitoshi Ueda: Haptic Virtual Reality: Display of Operating
Feel of Dynamic Virtual Objects, Preprints of the 7th International Symposium of
Robotics Research, pp.191-198 (1995)[80] Jun-ichi Imura, Toshiharu Sugie, Tsuneo Yoshikawa: A Hamilton-Jacobi
Inequality Approach to Strict H∞ Control Problem of Nonlinear Systems, Proceedingsof European Control Conference, pp.258-263 (1995)[81] Jun-ichi Imura, Toshiharu Sugie, Tsuneo Yoshikawa: A Hamilton-Jacobi
Inequality Approach to Strict H∞ Control Problem of Nonlinear Systems andCharacterization of Some gain conditions, Proceedings of the 34th IEEE Conference on
Decision and Control, pp.4233-4238 (1995)[82] Minoru Yamamoto, Naoki Yamada, Haruo Mori, and Tsuneo Yoshikawa: Analysis
and Experiments of a Hydrostatic Gas Lubricated Piston Ring with Capillary Tube
Restrictors, Proceedings of the International Tribology Conference, Yokohama 1995,
Vol. II, pp. 953-958 (1995)[83] Yong Yu, Yasuyoshi Yokokohji, and Tsuneo Yoshikawa: Path Planning of an Object
Keeping Desired Contact and Avoiding Undesired Collisions with Environment,
Proceedings of International Symposium on Microsystems, Intelligent Materials andRobots, pp.552-555 (1995)[84] Tsuneo Yoshikawa and Katsuki Matsudera: Experimental Study on Modeling of

Flexible Manipulators Using Virtual Joint Model, Experimental Robotics IV, O. Khatib
and J.K. Salisbury editors, pp.~425--435, Springer-Verlag, New York (1995)[85] Tsuneo Yoshikawa, Masamitsu Kurisu, and Tatsushi Kozuka: Deciding Grasping
Positions and Regrasping Action by Cooperating Multiple Mobile Robots, Proc. of the1996 IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, pp.118-124 (1996)[86] Kensuke Harada and Tsuneo Yoshikawa: Internal Stabilization in Dynamic
Trajectory Control of Flexible Manipulators, Proc. of the 1996 IEEE/RSJ Int. Conf. onIntelligent Robots and Systems, pp.252-259 (1996)[87] Masamitsu Kurisu and Tsuneo Yoshikawa: Tracking Control for an Object inPushing Operation, Proc. of the 1996 IEEE/RSJ Int. Conf. on Intelligent Robots andSystems, pp.729-736 (1996)[88] Tsuneo Yoshikawa Yong Yu, and Masashi koike: Estimation of Contact Position
between Object and Environment Based on Probing of Robot Manipulator, Proc. of the1996 IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, pp.769-776 (1996)[89] Tsuneo Yoshikawa and Jun Ueda: Analysis and Control of Master-Slave Systems
with Time Delay, Proc. of the 1996 IEEE/RSJ Int. Conf. on Intelligent Robots andSystems, pp.1366-1373 (1996)[90] Tsuneo Yoshikawa and Hitoshi Ueda: Construction of Virtual World Using
Dynamics Modules and Interaction Modules, Proc. of the 1996 IEEE Int. Conf. on
Robotics and Automation, pp.2358-2364 (1996)[91] Tsuneo Yoshikawa: Passive and Active Closures by Constraining Mechanisms,
Proc. of the 1996 IEEE Int. Conf. on Robotics and Automation, pp.1477-1484 (1996)[92] Yong Yu, Yasuyoshi Yokokohji, and Tsuneo Yoshikawa: Two Kinds of Degree ofFreedom in Constraint State and Their Application to Assembly Planning, Proc. of the1996 IEEE Int. Conf. on Robotics and Automation, pp.1993-1999 (1996)[93] Yasuyoshi Yokokohji, Ralph L. Hollis, Takeo Kanade, Kazuyuki Henmi, Tsuneo
Yoshikawa: Toward Machine Mediated Training of Motor Skills -Skill Transfer from
Human to Human via Virtual Environment-, Proceedings of the 5th IEEE
International Workshop on Robot and Human Communication (RO-MAN'96),
Nov.11-14, 1996, Tsukuba, Japan, pp.32-37 (1996)[94] Jun-ich Imura and Tsuneo Yoshikawa: Smooth Feedback Stabilizability andParametrization of All Stabilizing Controllers of Nonlinear Systems, Proceedings of the35th Conference on Decision and Control, pp.1053-1059 (1996)[95] Jun-ich Imura, Keigo Kobayashi, and Tsuneo Yoshikawa: Nonholonomic Control of
3 Link Planar Manipulator with a Free Joint, Proceedings of the 35th Conference on
Decision and Control, pp.1435-1436 (1996)[96] Jun-ich Imura, Keigo Kobayashi, Tsuneo Yoshikawa: Exponential Stabilization
Problem of Nonholonomic Chained Systems with Specified Transient Response,Proceedings of the 35th Conference on Decision and Control, pp.4733-4738 (1996)[97] Tsuneo Yoshikawa and Hitoshi Ueda: Haptic Virtual Reality: Display of Operating
Feel of Dynamic Virtual Objects, Robotics Research, The Seventh International
Symposium, (Eds.: G. Giralt and G.1Hirzinger) Springer, pp.214-221 (1996)[98] Tsuneo Yoshikawa and Hitoshi Ueda: Module-Based Architecture of World Modelfor Haptic Virtual Reality, Preprints of International Symposium on Experimental
Robotics, pp.111-122 (1997)[99] Yong Yu and Tsuneo Yoshikawa: Evaluation of Contact Stability between Objects,
Proc. of the 1997 IEEE Int. Conf. on Robotics and Automation, pp.695-702 (1997)[100] Tsuneo Yoshikawa and Akihiko Nagura: A Touch and Force Display System for
Haptic Interface, Proc. of the 1997 IEEE Int. Conf. on Robotics and Automation,
pp.3018-3024 (1997)[101] Ralf Koeppe and Tsuneo Yoshikawa: Dynamic Manipulability Analysis ofCompliant Motion, IEEE/RSJ International Conference on Intelligent Robots andSystems, IROS 97, (1997)[102] Tsuneo Yoshikawa: Virtual Truss Model for Characterization of Internal Forces
for Multiple Finger Grasps, Proc. of the 1998 IEEE Int. Conf. on Robotics andAutomation, pp.2389-2395 (1998)[103] Yong Yu, Kenichi Takeuchi, and Tsuneo Yoshikawa: Optimization of Robot Hand
Power Grasps, Proc. of the 1998 IEEE Int. Conf. on Robotics and Automation,
pp.3341-3347 (1998)[104] Kazuyuki Henmi and Tsuneo Yoshikawa: Virtual Lesson and Its Application to
Virtual Calligraphy System, Proc. of the 1998 IEEE Int. Conf. on Robotics andAutomation, pp.1275-1280 (1998)[105] Tsuneo Yoshikawa and Akihiro Nagura: A Touch and Force Display System for 3D
Haptic Interface, Proc. of the 1998 Japan-U.S.A. Symposium on Flexible Automation,
pp.1289-1292 (1998)[106] Yong Yu, Tsuneo Yoshikawa, and Showzow Tsujio: Automatic Generation of
Probing Operation for Estimating Contact Position between Object and Environment,
IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 98(1998)[107] Yasuyoshi Yokokohji, Yoshihiko Sugawara, and Tsuneo Yoshikawa: Vision-BasedHead Tracking for Image Overlay and Reducing Dynamic Registration Error withAcceleration Measurement, Proc. of the 1998 Japan-U.S.A. Symposium on Flexible
Automation, pp.1293-1296 (1998)[108] Tsuneo Yoshikawa, Minoru Yamamoto, and Takayuki Ashida: Enhancement of
Dynamic Characteristics and Clearance Control of an Aerostatic Thrust Bearing, Proc.
of the 1998 Japan-U.S.A. Symposium on Flexible Automation, pp.117-120 (1998)

[109] Tsuneo Yoshikawa and Masato Tamura: Study on Effectiveness of Virtual Joint
Model for Flexible Manipulators, Proc. of the 1998 Japan-U.S.A. Symposium on
Flexible Automation, pp.1003-1010 (1998)[110] Keigo Kobayashi, Jun-ichi Imura, and Tsuneo Yoshikawa: Controllability of aClass of Under-actuated Planar Manipulators, Proc. of the 3rd International
Conference on Advanced Mechatronics, pp.179-184 (1998)[111] Tsuneo Yoshikawa and Akihiro Nagura: A Three-Dimensional Touch/Force
Display System for Haptic Interface, Proc. of the 1999 IEEE International Conferenceon Robotics and Automation (Detroit, Michigan, USA), pp.2943-2951 (1999)[112] Tsuneo Yoshikawa and Kazuyuki Henmi: Human Skill Transfer Using Haptic
Virtual Reality Technology, Preprints of the 6th International Symposium on
Experimental Robotics (ISER'99), pp.307-316 (1999)[113] Kensuke Harada and Tsuneo Yoshikawa: Precise Hybrid Position/Force Control
with Stabilization of Flexible-Micro Manipulators, Proc. of the IASTED International
Conference, Robotics and Applications, pp.198-203 (1999)[114] Yasuyoshi Yokokohji, Moriyuki Sakamoto and Tsuneo Yoshikawa: Vision-Aided
Object Manipulation by a Multifingered Hand with Soft Fingertips, Proc. of the 1999
IEEE International Conference on Robotics and Automation, pp.3201-3208 (1999)[115] Yasuyoshi Yokokohji, Yoshihiko Sugawara, and Tsuneo Yoshikawa: Accurate
Image Overlay on Head-Mounted Displays Using Vision and Accelerometers, Proc. of
the 1999 IEEE International Conference on Robotics and Automation, pp.3243-3248(1999)[116] Yasuyoshi Yokokohji, Moriyuki Sakamoto and Tsuneo Yoshikawa: Object
Manipulation by Soft Fingers and Vision, Preprints of the 9th International
Symposium of Robotics Research, pp.297-304 (1999)[117] Yasuyoshi Yokokohji, Takashi Imaida and Tsuneo Yoshikawa: Bilateral
Teleoperation under Time-Varying Communication Delay, Proc. of the IEEE/RSJ
International Conference on Intelligent Robots and Systems (IROS'99), pp.1854-1859(1999)[118] Tsuneo Yoshikawa and Kouki Yoshimoto: Haptic Simulation of Assembly
Operation in Virtual Environment, Proceedings of the ASME, Dynamic Systems andControl Division--2000 (Orlando, FL, USA), pp.1191-1198 (2000)[119] Yasuyoshi Yokokohji, Takashi Imaida, Yukihiro Iida, Toshitsugu Doi, Mitsushige
Oda, and Tsuneo Yoshikawa: Bilateral Teleoperation Towards Finer Manipulation in
Farther Distance, Preprints of the 7th International Symposium on Experimental
Robotics (ISER 2000, Honolulu, Hawaii, USA), pp.11-20 (2000)[120] Tsuneo Yoshikawa and Akihiro Nagura: Development and Control of Touch andForce Display Devices for Haptic Interface, Preprints of the 6th IFAC Symposium onRobot Control (SYROCO '00, Vienna, Austria), pp.427-432 (2000)[121] Katsuya Kanaoka and Tsuneo Yoshikawa: Dynamic Singular Configuration of
Flexible Manipulators, Proc. of the IEEE/RSJ International Conference on Intelligent
Robots and Systems (IROS2000, Takamatsu, Japan), pp.46-51 (2000)[122] Masayuki Kawai and Tsuneo Yoshikawa: Stable Haptic Display of 1-DOF
Grasping with Coupling Impedance for Internal and External Forces, Proc. of theIEEE/RSJ International Conference on Intelligent Robots and Systems (IROS2000,
Takamatsu, Japan), pp.1316-1321 (2000)[123] Yasuyoshi Yokokohji, Yukihiro Iida, and Tsuneo Yoshikawa: "Toy Problem" as the
Benchmark Test for Teleoperation Systems, Proc. of the IEEE/RSJ International
Conference on Intelligent Robots and Systems (IROS2000, Takamatsu, Japan),
pp.996-1001 (2000)[124] Tsuneo Yoshikawa and Tetsuyou Watanabe: Dynamic Control of Soft-finger
Hands for Pivoting an Object in Contact with the Environment, Proc. of the IEEE/RSJ
International Conference on Intelligent Robots and Systems (IROS2000, Takamatsu,
Japan), pp.324-329 (2000)[125] Keigo Kobayashi and Tsuneo Yoshikawa: Controllability of Under-actuatedPlanar Manipulators with One Unactuated Joint, Proc. of the IEEE/RSJ International
Conference on Intelligent Robots and Systems (IROS2000, Takamatsu, Japan),
pp.133-138 (2000)[126] Tsuneo Yoshikawa: Force Control of Robot Manipulators, Proc. of the 2000 IEEE
International Conference on Robotics and Automation, pp.220-226 (2000)[127] Tsuneo Yoshikawa: Control Algorithm for Grasping and Manipulation by
Multifingered Robot Hands Using Virtual Truss Model Representation of Internal
Force, Proc. of the 2000 IEEE International Conference on Robotics and Automation,
pp.369-376 (2000)[128] Tsuneo Yoshikawa, Keigo Kobayashi and Tetsuyou Watanabe: Design of a
Desirable Trajectory and Convergent Control for 3-D.O.F. Manipulator with a
Nonholonomic Constraint, Proc. of the 2000 IEEE International Conference on
Robotics and Automation, pp.1805-1810 (2000)[129] Yasuyoshi Yokokohji, Takashi Imaida, and Tsuneo Yoshikawa: Bilateral Control
with Energy Balance Monitoring Under Time-Varying Communication Delay, Proc. ofthe 2000 IEEE International Conference on Robotics and Automation, pp.2684-2689(2000)[130] Yasuyoshi Yokokohji, Yoshihiko Sugawara and Tsuneo Yoshikawa: Accurate
Image Overlay on Video See-Through HMDs Using Vision and Accelerometers, Proc. ofIEEE VR2000, pp.247-254 (2000)[131] Ryo Kikuuwe and Tsuneo Yoshikawa: Haptic Display Device with Fingertip

Presser for Motion/Force Teaching to Human, Proc. of the 2001 IEEE International
Conference on Robotics and Automation, pp.868-873 (2001) (Seoul, Korea).
[132] Masayuki Kawai and Tsuneo Yoshikawa: A New Haptic Interface Device Capableof Continuous-Time Impedance Display within Sampling-Period: Application to Hard
Surface Display, Proc. of the 2001 IEEE International Conference on Robotics andAutomation, pp.880-885 (2001) (Seoul, Korea).
[133] Takashi Imaida, Yasuyoshi Yokokohji, Toshitsugu Doi, Mitsushige Oda, andTsuneo Yoshikawa, Ground-Space Bilateral Teleoperation Experiment Using ETS-VII
Robot Arm with Direct Kinesthetic Coupling, Proc. of the 2001 IEEE International
Conference on Robotics and Automation, pp.1031-1038 (2001) (Seoul, Korea).
[134] Tsuneo Yoshikawa, Tetsuyoh Watanabe, and Daito Mutsuo: Optimization ofPower Grasps for Multiple Objects, Proc. of the 2001 IEEE International Conference on
Robotics and Automation (Seoul, Korea), pp.1786-1791 (2001)[135] Tsuneo Yoshikawa, and Jun Ueda: Task Priority Based Mode Shaping Method forIn-phase Design of Flexible Structures Aiming at High Speed and Accurate Positioning,
Proc. of the 2001 IEEE International Conference on Robotics and Automation (Seoul,
Korea), pp.1806-1812 (2001)[136] Tsuneo Yoshikawa, Atsuharu Ohta, and Katsuya Kanaoka: State Estimation andParameter Identification of Flexible Manipulators Based on Visual Sensor and Virtual
Joint Model, Proc. of the 2001 IEEE International Conference on Robotics andAutomation (Seoul, Korea), pp.2840-2845 (2001)[137] Tsuneo Yoshikawa and Kouki Yoshimoto: Skill Observation of Human Assembly
Operation by Haptic Virtual Reality Technology, Proc. of the 32 nd International
Symposium on Robotics (ISR 2001, Seoul, Korea), pp.855-860 (2001)[138] Katsuya Kanaoka and Tsuneo Yoshikawa: Dynamic Manipulability of Flexible
Manipulators, Proc. of the 32 nd International Symposium on Robotics (ISR 2001,
Seoul, Korea), pp.1209-1214 (2001)[139] Tetsuyoh Watanabe and Tsuneo Yoshikawa: Dynamic Control of MultifingeredHands for Pivoting Operation, Proc. of the 32nd International Symposium on Robotics(ISR 2001, Seoul, Korea), pp.1260-1265 (2001)[140] Masayuki Kawai and Tsuneo Yoshikawa: Stable Haptic Display Based on
Coupling Impedance for Internal and External Force, Proc. of the 32 nd International
Symposium on Robotics (ISR 2001, Seoul, Korea), pp.1783-1788 (2001)[141] Masayuki Kawai and Tsuneo Yoshikawa: Haptic Display of Movable VirtualObject with Interface Device Capable of Continuous-Time Impedance Display by
Analog Circuit, Proc. of the 2002 IEEE International Conference on Robotics andAutomation (Washington D.C., USA), pp.229-234 (2002)[142] Jun Ueda and Tsuneo Yoshikawa: Robust Arm Configuration of Manipulator

Mounted on Flexible Base, Proc. of the 2002 IEEE International Conference on
Robotics and Automation (Washington D.C., USA), pp.1321-1326 (2002)[143] Ryo Kikuuwe and Tsuneo Yoshikawa: Robot Perception of Environment
Impedance, Proc. of the 2002 IEEE International Conference on Robotics andAutomation (Washington D.C., USA), pp.1661-1666 (2002)[144] Yasuyoshi Yokokohji, Yuki Kitaoka, and Tsuneo Yoshikawa: Motion Capture from
Demonstrator's Viewpoint and Its Application to Robot Teaching, Proc. IEEE
International Conference on Robotics and Automation, pp.1551-1558 (2002)[145] Yasuyoshi Yokokohji, Shigemitsu Nomoto and Tsuneo Yoshikawa: Static
Evaluation of Humanoid Robot Postures Constrained to the Surrounding Environment
through their Limbs, Proc. IEEE International Conference on Robotics and Automation,
pp.1856-1863 (2002)[146] Tetsuyou Watanabe and Tsuneo Yoshikawa: Optimization of Grasping by Using a
Required External Force Set, Proc. of the 2003 IEEE International Conference on
Robotics and Automation (Taipei, Taiwan), pp.1127-1132 (2003)[147] Ryo Kikuuwe and Tsuneo Yoshikawa: Recognizing Surface Properties Using
Impedance Perception, Proc. of the 2003 IEEE International Conference on Robotics
and Automation (Taipei, Taiwan), pp.1539-1544 (2003)[148] Jun Ueda and Tsuneo Yoshikawa: Mode Shape Compensator for Improving
Robustness of Manipulator Mounted on Flexible Base, Proc. of the 2003 IEEE
International Conference on Robotics and Automation (Taipei, Taiwan), pp.3011-3016(2003)[149] Takao Saida, Yasuyoshi Yokokohji, and Tsuneo Yoshikawa: FSW (Feasible
Solution of Wrench) for Multi-Legged Robots, Proc. of the 2003 IEEE International
Conference on Robotics and Automation (Taipei, Taiwan), pp.3815-3820 (2003)[150] Katsuya Kanaoka and Tsuneo Yoshikawa: Passivity Monitor and Software
Limiter which Guarantee Asymptotic Stability of Robot Control Systems, Proc. of the2003 IEEE International Conference on Robotics and Automation (Taipei, Taiwan),
pp.4366-4373 (2003)[151] Tetsuyou Watanabe and Tsuneo Yoshikawa: Optimization of Grasping an Object
by using Required Acceleration and Equilibrium-Force Sets, Proceedings of the 2003
IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM'03,
Kobe, Japan), pp.338-343 (2003)[152] Shin’ichiro Nishida and Tsuneo Yoshikawa: Space Debris Capture by a Joint
Compliance Controlled Robot, Proceedings of the 2003 IEEE/ASME International
Conference on Advanced Intelligent Mechatronics (AIM'03, Kobe, Japan), pp.496-502(2003)[153] Tsuneo Yoshikawa and Yuki Ichinoo: Impedance Identification of Human Fingers

using Virtual Task Environment, Proceedings of the 2003 IEEE/ASME International
Conference on Advanced Intelligent Mechatronics (AIM'03, Kobe, Japan), pp.759-764(2003)[154] Jun Ueda, Reishi Oya, Tsukasa Ogasawara and Tsuneo Yoshikawa: Solution of
Human-Like Redundant Manipulator Mounted on Flexible Body for Task-Space
Feedback Control, Proceedings of the 2003 IEEE/ASME International Conference on
Advanced Intelligent Mechatronics (AIM'03, Kobe, Japan), pp.1429-1434 (2003)[155] Ryo Kikuuwe and Tsuneo Yoshikawa: Recognizing Cylindrical Surface Using
Impedance Perception, Proc. of the IEEE/RSJ International Conference on Intelligent
Robots and Systems (IROS2003, Las Vegas, USA), pp.19-24 (2003)[156] Tsuneo Yoshikawa and Yuki Ichinoo: Impedance Identification of Human Fingers
using Virtual Task Environment, Proc. of the IEEE/RSJ International Conference onIntelligent Robots and Systems (IROS2003, Las Vegas, USA), pp.3094-3099 (2003)[157] Yasuyoshi Yokokohji, Masamitsu Kurisu, Takao Saida, Yosuke Kudo, Koichiro
Hayashi, and Tsuneo Yoshikawa: Constructing a 3-D Map of Rubble by Teleoperated
Mobile Robots with a Motion Canceling Camera System, Proc. of the IEEE/RSJ
International Conference on Intelligent Robots and Systems (IROS2003, Las Vegas,
USA), pp.3118-3125 (2003)[158] Masaki Fujiwara, Yasuyoshi Yokokohji and Tsuneo Yoshikawa: Guideline for
Designing Haptic Master Hands based on Dynamic Multi-fingered Manipulability, Proc.
the 11th Symposium on Haptic Interfaces for Virtual Environment and Teleoperator
Systems, pp.77-84 (2003)[159] Tsuneo Yoshikawa, Masayuki Kawai, and Kouki Yoshimoto: Toward Observationof Human Assembly Skill Using Virtual Task Space, Experimental Robotics VIII (eds.
B. Siciliano and P. Dario), Springer, pp.540-549 (2003)[160] Yasuyoshi Yokokohji, Nobuhiko Muramori, Yuji Sato, and Tsuneo Yoshikawa:
Designing an Encountered-Type Haptic Display for Multiple Fingertip Contacts Basedon the Observation of Human Grasping Behavior, Proc. 12th Symposium on Haptic
Interfaces for Virtual Environment and Teleoperator Systems (Chicago, USA), (2004)[161] Shin-ichiro Nishida and Tsuneo Yoshikawa: Large Reflector Assembly in Orbit bya Mobile Space Robot, Proc. of the 35th International Symposium on Robotics (ISR
2004), (2004)[162] Tetsuyou Watanabe, Zhongwei Jiang, and Tsuneo Yoshikawa: Mechanics ofHybrid Active/Passive-Closure Grasps, Proc. of the 2004 IEEE International
Conference on Robotics and Automation (New Orleans, LA), pp.1252-1257 (2004)[163] Yasuyoshi Yokokohji, Nobuhiko Muramori, Yuji Sato, Takaharu Kikura, andTsuneo Yoshikawa: Design and Path Planning of an Encountered-type Haptic Display
for Multiple Fingertip Contacts based on the Observation of Human Grasping Behavior,Proc. of the 2004 IEEE International Conference on Robotics and Automation (New
Orleans, LA), pp.1986-1991 (2004)[164] Yasuyoshi Yokokohji, Satoshi Chaen, and Tsuneo Yoshikawa: Evaluation ofTraversability of Wheeled Mobile Robots on Uneven Terrains by Fractal Terrain Model,
Proc. of the 2004 IEEE International Conference on Robotics and Automation (New
Orleans, LA), pp.2183-2188 (2004)[165] Takao Saida, Hirokazu Ohta, Yasuyoshi Yokokohji, Tsuneo Yoshikawa: Function
Analysis of Human-like Mechanical Foot, using Mechanically Constrained Shoes,
Proceedings of 2004 IEEE/RSJ International Conference on Intelligent Robots andSystems, pp.3847-3852 (2004)[166] Koichiro Hayashi, Yasuyoshi Yokokohji, and Tsuneo Yoshikawa: Tele-existence
Vision System with Image Stabilization for Rescue Robots, Proc. of the 2005 IEEE
International Conference on Robotics and Automation (Barcelona, Spain), (2005)[167] T. Watanabe, K. Harada, Z. Jiang, and Tsuneo Yoshikawa: Object Manipulation
under Hybrid Active/Passive Closure, Proc. of the 2005 IEEE International Conferenceon Robotics and Automation (Barcelona, Spain), (2005)[168] Tsuneo Yoshikawa, Masanao Koeda, Haruki Fukuchi, and Atsushi Hirakawa:
Stable Grasp and Manipulation in 3D Space with 2-Soft-Fingered Robot Hand,
CD-Rom Preprints of the 7th International Symposium on Experimental Robotics(ISER 2006, Rio de Janeiro, Brazil), (2006)[169] Masanao Koeda, Tsuneo Yoshikawa, and Keita Nakagawa: Stability
Improvement Using Soft Sole on Humanoid Robot, Proceedings of 9th International
Conference on Climbing and Walking Robots and the Support Technologies for Mobile
Machines (CLAWAR2006, Belgium, Brussels), pp.162-167 (2006)[170] Tsuneo Yoshikawa: Coping with Time Delay in Robotic Systems and Haptic
Interfaces, CD-Rom Proc. of the 6th IFAC Workshop on Time Delay Systems(IFAC-TDS06, L'Aquila, Italy), (2006)[171] Masanao Koeda, Y. Ninomiya, Munetaka Sugihashi, and Tsuneo Yoshikawa:
Estimation Method for Relative Position and Attitude Between Two Haptic Devices,
12th International Conference on Human-Computer Interaction (HCI2007),
pp.446-450, Beijing, China, 2007.
[172] Tsuneo Yoshikawa, Masanao Koeda, and Haruki Fukuchi: Grasping andManipulation by Soft-Fingered Robot Hands, CD-Rom Proceedings of the 13th
International Conference on Advanced Robotics, (ICAR 2007, Jeju, Korea), (August
2007)[173] Tsuneo Yoshikawa, Masanao Koeda, and Munetaka Sugihashi: A Quantitative
Evaluation Method of Handedness Using Haptic Virtual Rerality Technology, CD-Rom
Proceedings of the 16th IEEE International Symposium on Robot & Human Interactive

Communication, (IEEE RO-MAN 2007, Jeju, Korea), (August 2007)[174] Tsuneo Yoshikawa, Masanao Koeda, and Hiroshi Fujimoto: Shape Recognition
and Grasping by Robotic Hands with Soft Fingers and Omnidirectional Camera,
Proceedings of the 2008 IEEE International Conference on Robotics and Automation(ICRA2008), Pasadena, USA (2008)[175] Tsuneo Yoshikawa, Masanao Koeda, Haruki Fukuchi, and Kazunori Hashirii:
Adaptive Manipulation of Constrained Objects by Soft-Fingered Robot Hands, Proc. of
17th CISM-IFToMM Symposium on Robot Design, Dynamics, and Control (RoManSy),
Tokyo, Japan (2008)[176] Tsuneo Yoshikawa, Masanao Koeda, Hiroshi Fujimoto: Shape Recognition and
Optimal Grasping of Unknown Objects by Soft-Fingered Robotic Hands with Camera,
CD-Rom Preprints of the 11th International Symposium on Experimental Robotics(ISER 2008), Athens, Greece (2008)[177] Tsuneo Yoshikawa, Masanao Koeda, Haruki Fukuchi, and A. Hirakawa: "Stable
Grasp and Manipulation in 3D Space with 2-Soft-Fingered Robot Hand", Experimental
Robotics: The 10th International Symposium, Springer Tracts in Advanced Robotics,
ISBN978-3-540-77456-3, pp. 43-51, Vol. 39 (2008)[178] Seiji Sugiyama, Masanao Koeda, Hiroshi Fujimoto and Tsuneo Yoshikawa:
Measurement of Grasp Position by Human Hands and Grasp Criterion for Two
Soft-Fingered Robot Hands, Proceedings of the 2009 IEEE International Conference on
Robotics and Automation (ICRA2009), pp.2487-2492, Kobe, Japan (2009)[179] Takayuki Satoi, Masanao Koeda and Tsuneo Yoshikawa: Virtual Haptic Map
Using Force Display Device for Visually Impaired, Proceedings of 9th International
IFAC Symposium on Robot Control (SYROCO2009), pp.799-804, Gifu, Japan (2009)[180] Seiji Sugiyama and Tsuneo Yoshikawa: Measurement of Grasp Position by
Humans for Soft-Fingered Robotic Hands, Preprints of 9th International IFAC
Symposium on Robot Control (SYROCO2009), pp.397-402, Gifu, Japan (2009)[181] Msasanao Koeda, T. Ito and Tsuneo Yoshikawa: Shuffle Turn with Both Feet of
Humanoid Robot by Controlling Load Distribution of Soles, Proceedings of 12th
International Conference on Climbing and Walking Robots and the Support
Technologies for Mobile Machines (CLAWAR2009), pp.1007-1014, Istanbul, Turkey(2009)[182] Sin-Ichiro Nishida and Tsuneo Yoshikawa: A Robotic Small Satellite for Space
Debris Capture, Proceedings of 2008 IEEE International Conference on Robotics andBiomimetics, (ROBIO2008), pp.1348-1353, Bangkok, Thailand, February 21-26 (2009)[183] Tsuneo Yoshikawa: Robot Hand Control for Grasping and Manipulation (PlenaryTalk), Preprints of 9th International IFAC Symposium on Robot Control (SYROCO
2009), pp.20-25 (Sept., 2009)[184] Tsuneo Yoshikawa, Masanao Koeda, and H. Fujimoto: "Shape Recognition and
Optimal Grasping of Unknown Objects by Soft-Fingered Robotic Hands with Camera",
Experimental Robotics: The 11th International Symposium, Springer Tracts in
Advanced Robotics, ISBN978-3642001956, pp. 537-546, Vol. 54 (2009)[185] Tsuneo Yoshikawa, Takayuki Satoi, and Masanao Koeda: Virtual Haptic Map
Using Haptic Display Technology for Visually Impaired, ROMANSY 18 - Robot Design,
Dynamics and Control, CISM Courses and Lectures, vol.524 (Eds: V. Parenti-Castelli,
W. Schiehlen), pp.375-382, Springer (2010)[186] Masahiro Sato, Seiji Sugiyama, and Tsuneo Yoshikawa: A Grasp Criterion for
Robot Hands Considering Multiple Aspects of Tasks and Hand Mechanisms, 2010
IEEE/SICE International Symposium on System Integration, CISM Courses andLectures, vol.524 (Eds: V. Parenti-Castelli, W. Schiehlen), pp.375-382, Springer (2010)[187] Masanao Koeda, Yumi Uda, Seiji Sugiyama, and Tsuneo Yoshikawa: Shuffle Turnand Translation of Humanoid Robots, Proceedings of 2011 IEEE International
Conference on Robotics and Automation (ICRA2011), pp.593-598, Shanghai, China(2011)[188] Tsuneo Yoshikawa, Hirohito Shinoda, Seiji Sugiyama, and Masanao Koeda:
Jenga Game by a Manipulator with Multiarticulated Fingers, Proceedings of the 2011
IEEE/ASME International Conference on Advanced Intelligent Mechatronics(AIM2011), pp.960-965, Budapest, Hungary (2011)[189] Masanao Koeda, Yumi Uda, Seiji Sugiyama, and Tsuneo Yoshikawa: Side
Translation by Simultaneous Shuffle Turn for Humanoid Robots, Proceedings of the
8th Asian Control Conference (ASCC2011), pp.1346-1351, Kaohsiung, Taiwan (2011)[190] Masahiro Sato and Tsuneo Yoshikawa: A Grasp Performance Criterion for Robot
Hands Considering Multiple Aspects of Tasks and Hand Configurations, Proceedings ofthe 2011 IEEE International Conference on Robotics and Biomimetics (ROBIO2011),
pp.1547-1554, Phuket, Thailand (December, 2011)[191] Satoki Tsuichihara, Masanao Koeda, Seiji Sugiyama, Tsuneo Yoshikawa: A
sliding walk method for humanoid robots using ZMP feedback control, Proceedings ofthe 2011 IEEE International Conference on Robotics and Biomimetics, pp. 275-280(2011)[192] Tsuneo Yoshikawa, Tatsuya Sugiura, and Seiji Sugiyama: Development of a
Jenga Game Manipulator Having Multi-articulated Fingers, 7th ACM/IEEEInternational Conference on Human-Robot Interaction (HRI2012), pp.277-278, Boston,
USA (March, 2012)[193] Seiji Sugiyama, Kouhei Baba, Tsuneo Yoshikawa: Guide Robot with Personal
Identification Method using Dress Color Information via KINECT, 2012 IEEE
International Conference on Robotics and Biomimetics (ROBIO), pp.2195-2200 (2012)

[194] T. Goto, H. Dobashi, T. Yoshikawa, R. C. V. Loureiro, W. S. Harwin, Y. Miyamura
and K. Nagai: Utilization of Kinematical Redundancy of a Rehabilitation Robot to
Produce Compliant Motions under Limitation on Actuator Performance, Proc. of the
15th IEEE/RAS-EMBS International Conference on Rehabilitation Robotics (ICORR
2017), pp.646-651 (2017).

Other Articles
English Articles[1] Tsuneo Yoshikawa: A Steering Law for Roof-Type Configuration for Single-Gimbal
Control Moment Gyro System, NASA Technical Memorandum TMX-64907, MarshallSpace Flight Center, December (1974)[2] Tsuneo Yoshikawa: A Steering Law for Three Double-Gimbal Control moment Gyro
Systems, NASA Technical Memorandum TMX-64926, Marshall Space Flight Center,
March (1975)[3] Tsuneo Yoshikawa: Analysis and Control of Robot Manipulators with Redundancy,
Robotics Research: The First International Symposium (M. Brady and R. Paul ed.), The
MIT Press, Cambridge, MA, pp.735-757 (1984)[4] Yasuyoshi Yokokohji and Tsuneo Yoshikawa: Control of Master-Slave Manipulators
for Object Teleperception, Robotics Research: The Fifth International Symposium(Hirofumi Miura and Suguru Arimoto ed.), The MIT Press, Cambridge, MA, pp.217-224(1990)[5] Tsuneo Yoshikawa: Chapter 4 Decentralized Control Systems and Fixed Modes,
pp.97-120; Chapter 5, Optimal Control of Decentralized Systems, pp.121-147,
Large-Scale Systems Control and Decision Making (eds. Hiroyuki Tamura and Tsuneo
Yoshikawa), Marcel Dekker (1990)[6] Tsuneo Yoshikawa: Digital Control of Robot Manipulators by Computed Torque
Method, pp.449-464, Systems and Control, Topics in theory and applications (eds.
Toshiro Ono and Frank Kozin), Mita Press (1991)[7] Tsuneo Yoshikawa: On the Inverse Kinematics of Redundant Manipulators by
Daniel R. Baker and Charles W. Wampler II, The Robotics Review 2 (O. Khatib, J.J.
Craig, and T. Lozano-Perez ed.), The MIT Press, Cambridge, MA, pp.207-210 (1992)[8] Tsuneo Yoshikawa, Hiroki Murakami, and Koh Hosoda: Modeling and Control of aThree Degree of Freedom Manipulator with Two Flexible Links, in Experimental
Robotics II (eds. Raja Chatila and Gerd Hirzinger), Springer-Verlag (1993)[9] Tsuneo Yoshikawa, and Taizou Miyazaki: A Six Axis Force Sensor withThree-Dimensional Cross-Shape Structure, Mem. Fac. Eng., Kyoto Univ., Vol.55, No.2,

pp.49-71 (1993)[10] Tsuneo Yoshikawa: Hybrid Control of Robot Manipulators, 1993 IEEE
International Conference on Robotics and Automation, Tutorial S5 (May 2, 1993),"Force and Contact Control in Robotic Systems -- A Historical Perspective and Current
Technologies", pp.49-63 (1993)[11] Yasuyoshi Yokokohji and Tsuneo Yoshikawa: Task Sharing and Intervention in
Human-Robot Cooperating Systems, pp.391-405, Experimental Robotics III (eds.
Tsuneo Yoshikawa and Fumio Miyazaki), Springer-Verlag (1994)[12] Tsuneo Yoshikawa and Katsuki Matsudera: Experimental Study on Modeling of
Flexible Manipulators Using Virtual Joint Model, Experimental Robotics IV, O. Khatib
and J.K. Salisbury editors, pp.425-435, Springer-Verlag, New York (1995)[13] Tsuneo Yoshikawa and Hitoshi Ueda: Haptic Virtual Reality: Display of Operating
Feel of Dynamic Virtual Objects, Robotics Research, The Seventh International
Symposium, (Eds: G. Giralt and G.1Hirzinger) Springer, pp.214-221 (1996)[14] Tsuneo Yoshikawa: Basic Optimization methods of Redundant Manipulators,
Laboratory Robotics and Automation, vol.8, pp.49-60 (1996) (survey paper)[15] Tsuneo Yoshikawa, Masayuki Kawai, and Kouki Yoshimoto: Toward Observation of
Human Assembly Skill Using Virtual Task Space, Experimental Robotics VIII (eds. B.
Siciliano and P. Dario), Springer, pp.540-549 (2003)[16] Tsuneo Yoshikawa: Robotics Research: Can Robots Have Human-level
Manipulation Skill?, Raku-Yu, Kyoto University Newsletter, No.6, pp.6-7 (2004)[17] Tsuneo Yoshikawa: Coping with Time Delay in Robotic Systems and Haptic
Interfaces (Plenary Talk), CD-Rom Proceedings of the 6th IFAC Workshop on Time
Delay Systems (IFAC-TDS06, L'Aquila, Italy), (2006)[18] T. Yoshikawa, M. Koeda, H. Fukuchi, and A. Hirakawa: "Stable Grasp andManipulation in 3D Space with 2-Soft-Fingered Robot Hand", Experimental Robotics:
The 10th International Symposium, Springer Tracts in Advanced Robotics,
ISBN978-3-540-77456-3, pp. 43-51, Vol. 39 (2008)[19] Tsuneo Yoshikawa: Robot Hand Control for Grasping and Manipulation (PlenaryTalk), Preprints of 9th International IFAC Symposium on Robot Control (SYROCO
2009), pp.20-25 (Sept., 2009)[20] Tsuneo Yoshikawa，Masanao Koeda and Munetaka Sugihashi: A Quantitative
Evaluation Method of Handedness Using Haptic Virtual Reality Technology, Advancesin Human-Robot Interaction (edited by Vladimir A. Kulyukin), pp.179-190, IN-TECH(2009)[21] T. Yoshikawa, M. Koeda, and H. Fujimoto: "Shape Recognition and Optimal
Grasping of Unknown Objects by Soft-Fingered Robotic Hands with Camera",
Experimental Robotics: The 11th International Symposium, Springer Tracts inAdvanced Robotics, ISBN978-3642001956, pp. 537-546, Vol. 54 (2009)[22] Tsuneo Yoshikawa: Multifingered Robot Hands: Control for Grasping andManipulation (Review Paper), Annual Reviews in Control, vol.34, issue 2, pp.199-208(2010)[23] Tsuneo Yoshikawa: Robot Hands: Past, Present, and Future (Keynote Speech),International Symposium on Robotics and Intelligent Sensors (IRIS2010), Nagoya,Japan (March, 2010)[24] Masanao Koeda, Mako Matsuyama, Munetaka Sugihashi and Tsuneo Yoshikawa:
Handedness and Dexterity Evaluation System Using Haptic Virtual Reality Technology,
Virtual Reality, In-Tech, ISBN 978-953-307-518-1, pp.215-234, (2011)

Japanese Articles[1] 吉川恒夫：離散時間型確率系の最適制御，システムと制御，16 巻 1 号，19-24 頁 (1972)
Tsuneo Yoshikawa: “Optimal Control of Discrete-Time Stochastic Systems,”
Systems and Control, vol.16, no.1, pp.19-24 (in Japanese) (1972) (review) (inJapanese)[2] 吉川恒夫：情報構造，電気学会誌，93 巻 7 号，613-616 頁 (1973)
Tsuneo Yoshikawa: “Information Structure,” Journal of the Institute of ElectricalEngineers of Japan, vol.93, no.7, pp.613-616 (1973) (short commentary) (inJapanese)[3] 吉川恒夫：分散制御システム，システムと制御，21 巻 1 号，51-54 頁 (1977)
Tsuneo Yoshikawa: “Decentralized Control Systems,” Systems and Control, vol.21,
no.1, pp.51-54 (1977) (review) (in Japanese)[4] 吉川恒夫：大規模システムの最適制御－分散制御系を中心として－，システムと制御，
22 巻 11 号，645-654 頁 (1978)
Tsuneo Yoshikawa: “Optimal Control of Large-Scale Systems -- Focusing on
Decentralized Control Systems,” Systems and Control, vol.22, no.11, pp.645-654(1978) (review) (in Japanese)[5] 吉川恒夫：分散情報構造とシステム制御，計測と制御，20 巻 7 号，696-704 頁 (1981)
Tsuneo Yoshikawa: “Decentralized Information Structure and System Control,”
Journal of the Society of Instrument and Control Engineers, vol.20, no.7, pp.696-704,(1981) (review) (in Japanese)[6] 吉川恒夫：マニピュレータの多変数制御，日本ロボット学会誌，1 巻 2 号，10-15
頁 (1983)
Tsuneo Yoshikawa: “Multivariable Control of Robot Manipulators,” Journal of the
Robotics Society of Japan, vol.1, no.2, pp.10-15 (in Japanese) (1983) (review) (inJapanese)[7] 吉川恒夫：冗長性を有するロボットの制御，日本ロボット学会誌，2 巻 6 号，83-88 頁(1984)
Tsuneo Yoshikawa: “Control of Robots with Redundancy,” Journal of the Robotics
Society of Japan, vol.2, no.6, pp.83-88 (in Japanese) (1984) (review) (in Japanese)[8] 吉川恒夫，池田雅夫，荒木光彦：大規模動的システムの制御理論[III]，計測と制御，
23 巻 2 号，214-221 頁 (1984)
Tsuneo Yoshikawa, Masao Ikeda, and Mutsuhito Araki: “Decentralized control oflarge-scalesystem [III],” Journal of the Society of Instrument and Control Engineers,vol.23, no.2, pp.214-221 (1984) (survey) (in Japanese)[9] 吉川恒夫，池田雅夫，荒木光彦：大規模動的システムの制御理論[IV]，計測と制御、2
巻 4 号，370-378 頁 (1984)
Tsuneo Yoshikawa, Masao Ikeda, and Mitsuhiko Araki: “Decentralized control oflarge-scale system [IV],” Journal of the Society of Instrument and Control
Engineers, vol.23, no.4, pp.370-378, (1984) (survey) (in Japanese)[10] 吉川恒夫：第２章 分散制御，40-64 頁，大規模システム (田村坦之編), 昭晃堂(1986)
Tsuneo Yoshikawa: “Decentralized Control,” Chap.2, Large Scale Systems (ed.
Hiroyuki Tamura), SyokoDo, pp.40-46, (1986) (book chapter) (in Japanese)[11] 吉川恒夫：ロボットアームの制御方式，計測と制御，25 巻 1 号，37-44 頁 (1986)
Tsuneo Yoshikawa: “Control Schemes for Robot Arms,” Journal of the Society of
Instrument and Control Engineers, vol.25, no.1, pp.37-44, (1986) (survey) (inJapanese)[12] 吉川恒夫：ロボット機構の運動特性評価，日本ロボット学会誌，5 巻 4 号，312-316
頁 (1987)
Tsuneo Yoshikawa: “Evaluation of Kinematic Characteristics of Robotic
Mechanisms,” Journal of the Robotics Society of Japan, vol.5, no.4, pp.312-316(1987) (survey) (in Japanese)[13] 吉川恒夫：ロボティクスにおける計測と制御の動向，システムと制御、31 巻 1 号，26-30 頁 (1987)
Tsuneo Yoshikawa: “Trend of Measurement and Control in Robotics, Systems andControl,” vol.31, no.1, pp.26-30 (1987) (review) (in Japanese)[14] 永井清，吉川恒夫：多指ハンドによる対象物の把握と操り力学，日本ロボット学会誌，
7 巻 5 号，491-495 頁 (1989)
Kiyoshi Nagai and Tsuneo Yoshikawa: “Mechanics of Grasping and Manipulation by
Multi-Fingered Robot Hand,” Journal of the Robotics Society of Japan, vol.7, no.5,
pp.491-495 (1989) (survey) (in Japanese)[15] 吉川恒夫：計算トルク法によるディジタル制御，日本ロボット学会誌，7 巻 3 号，237-242 頁 (1989)

Tsuneo Yoshikawa: “Digital Control by Computed Torque Method,” Journal of the
Robotics Society of Japan, vol.7, no.3, pp.237-242 (1989) (survey) (in Japanese)[16] 吉川恒夫：マニピュレータの力制御，計測と制御，30 巻 5 号，383-388 頁 (1991)
Tsuneo Yoshikawa: “Force Control of Manipulators,” Journal of the Society of
Instrument and Control Engineers, vol.30, no.5, pp.383-388, (1991) (survey) (inJapanese)[17] 吉川恒夫：ロボットにおける力制御の現状と将来，日本ロボット学会誌，9 巻 6 号，746-750 頁 (1991)
Tsuneo Yoshikawa: “The State of the Art and Future of Robot Force Control,”
Journal of the Robotics Society of Japan, vol.9, no.6, pp.746-750 (1991) (review)(in Japanese)[18] 吉川恒夫：これからのロボティクス，メカライフ，30 号，8-9 頁 (1992)
Tsuneo Yoshikawa: “Robotics From Now On,” Mecha-Life, no.30, (Japan Society of
Mechanical Engineers, 1992) (review) (in Japanese)[19] 吉川恒夫：ロボット工学と私，日本ロボット学会誌，10 巻 1 号，62-63 頁 (1992)
Tsuneo Yoshikawa: “Robotics and I,” Journal of the Robotics Society of Japan, vol.10,
no.1, pp.62-63 (1992) (essay) (in Japanese)[20] 吉川恒夫：マニピュレーション技術，日本機械学会誌，96 巻 897 号，720 頁 (1993)
Tsuneo Yoshikawa: “18.2.1 Manipulation Technology,” Journal of the Japan Societyof Mechanical Engineers, vol.96, no.897, pp.720 (1993) (survey) (in Japanese)[21] 吉川恒夫ほか：次世代ロボットのキーテクノロジーは何か（E-mail 討論会），日本ロボット学会誌，12 巻 1 号，67-76 頁 (1994)
Tsuneo Yoshikawa et. al. : E-mail Debate，“What are the Key Technologies for Next
Generation Robots,” Journal of the Robotics Society of Japan, vol.12, no.1, pp.67-76(1994) (in Japanese)[22] 吉川恒夫，細田耕：マクロ・マイクロシステムによるフレキシブル・マニピュレータの制御，日本ロボット学会誌，12 巻 2 号，207-212 頁 (1994)
Tsuneo Yoshikawa and Koh Hosoda: “Control of Flexible Manipulators using
Macro-Micro Manipulator System,” Journal of the Robotics Society of Japan, vol.12,
no.2, pp.207-212 (1994) (review) (in Japanese)[23] 吉川恒夫：仮想世界を作り出す技術，あすてむ, 18 号, 4 頁 (1995)
Tsuneo Yoshikawa: “Technologies for Generating Virtual World,” ASUTEM(magazine of Advanced Science, Technology & Management Research Institute of
Kyoto), vo1.18, pp.4, (1995) (essay) (in Japanese)[24] 吉川恒夫：把持と操りの基礎理論 １．受動拘束と能動拘束，日本ロボット学会誌，13 巻 7 号，950-957 頁 (1995)
Tsuneo Yoshikawa: “Foundations of Grasping and Manipulation 1. Passive Closureand Active Closure,” Journal of the Robotics Society of Japan, vol.13, no.7,

pp.950-957 (1995) (survey) (in Japanese)[25] 吉川恒夫：把持と操りの基礎理論 2.指先力，日本ロボット学会誌，14 巻 1 号，48-54
頁 (1996)
Tsuneo Yoshikawa: “Foundations of Grasping and Manipulation 2. Fingertip Forces,”
Journal of the Robotics Society of Japan, vol.14, no.1, pp.48-54 (1995) (survey) (inJapanese)[26] 吉川恒夫：把持と操りの基礎理論 3.制御，日本ロボット学会誌，14 巻 4 号，505-511
頁 (1996)
Tsuneo Yoshikawa: “Foundations of Grasping and Manipulation 3. Control,”
Journal of the Robotics Society of Japan, vol.14, no.4, pp.505-511 (1996) (survey) (inJapanese)[27] 吉川恒夫：ロボット工学の歩みと今後の方向，システム／制御／情報, 42 巻 4 号，
177-181 頁 (1998)
Tsuneo Yoshikawa: “Progress of and Future Directions of Robotics,” Systems,
Control and Information (Journal of the Institute of Systems, Control andInformation Engineers). vol.42, no.4, pp.177-181 (1998) (survey) (in Japanese)[28] 吉川恒夫：マニピュレーション，日本ロボット学会誌，16 巻 7 号，910-912 頁 (1998)
Tsuneo Yoshikawa: “Manipulation,” Journal of the Robotics Society of Japan, vol.16,
no.7, pp.910-912 (1998) (survey) (in Japanese)[29] 吉川恒夫：人工技能---技能の理解とその機械化---，計測と制御，37 巻 7 号，465-470
頁 (1998)
Tsuneo Yoshikawa: “Artificial Skill -- Understanding Skill and Its Mechanization --,”
Journal of the Society of Instrument and Control Engineers, vol.37, no.7, pp.465-470(1998) (essay) (in Japanese)[30] 吉川恒夫：力覚人工現実感技術を用いた技能教育システム, 人工現実感の設計（舘暲監修，佐藤誠編），第 4.2.3 項 (145-150 頁)，培風館 (2000)
Tsuneo Yoshikawa: “Skill Education System Based on Haptic Virtual Reality
Technology,” Section 4.2.3 (pp.145-150) of “Design of Virtual Reality,” (supervised by
Susumu Tachi, ed. Makoto Sato) Baifukan (2000) (survey) (in Japanese)[31] 吉川恒夫：器用なメカニカルハンド，日本ロボット学会誌，18 巻 6 号，763-766 頁(2000)
Tsuneo Yoshikawa: “Dexterous Mechanical Hand,” Journal of the Robotics Society ofJapan, vol.18, no.6, pp.763-766 (2000) (survey) (in Japanese)[32] 吉川恒夫：マニピュレーション技能実現への課題，日本ロボット学会誌，20 巻 2 号，
134-135 頁 (2002)
Tsuneo Yoshikawa: “Open Problems for Realizing Manipulation Skill,” Journal of
the Robotics Society of Japan, vol.20, no.2, pp.134-135 (2002) (essay) (in Japanese)[33] 吉川恒夫：ロボット技術，計測と制御，41 巻 1 号，17-21 頁 (2002)

Tsuneo Yoshikawa: “Robot Technologies,” Journal of the Society of Instrument andControl Engineers, vol.41, no.1, pp.17-21 (2002) (review) (in Japanese)[34] 吉川恒夫：ロボット技術の現状と将来展望，電気評論，88 巻 11 号,11-14 頁 (2003)
Tsuneo Yoshikawa: “Current Status and Future Prospects of Robot Technologies,”
Electrical Review, vol.88, no.11, pp.11-14 (2003) (review) (in Japanese)[35] 吉川恒夫：ロボットのこころ，OHM BULLETIN, 40 号, 夏 (2004)
Tsuneo Yoshikawa: “Mind of Robots,” OHM BULLETIN, vol.40, Summer (2004)(essay) (in Japanese)[36] 吉川恒夫：ロボット技術とバーチャルリアリティ技術，計測と制御，43 巻 2 号, 109-115 頁 (2004)
Tsuneo Yoshikawa: “Robot Technology and Virtual Reality Technology,” Journal of
the Society of Instrument and Control Engineers, vol.43, no.2, pp.109-115 (2004)(review) (in Japanese)[37] 吉川恒夫：研究教育雑感，京都大学工学広報, 44 号, 5-8 頁 (2005)
Tsuneo Yoshikawa: “Miscellaneous Thoughts on Research and Education,” Public
Relations Magazine of Engineering Department, Kyoto University, no.44, pp.5-8(2005) (essay) (in Japanese)[38] 吉川恒夫：マニピュレーション技術，日本ロボット学会誌, 23 巻 4 号, 408-410 頁(2005)
Tsuneo Yoshikawa: “Manipulation Technology,” Journal of the Robotics Society ofJapan, vol.23, no.4, pp.408-410 (2005) (survey) (in Japanese)[39] 吉川恒夫：ロボット三原則，立命館大学 国際平和ミュージアムだより, vol.18-2, 8-9
頁 (2010)
Tsuneo Yoshikawa: Three Laws of Robotics, News from Museum, Kyoto Museum forWorld Peace, Ritsumeikan University, vol.18, no.2, pp.8-9 (2010) (essay) (inJapanese)[40] 吉川恒夫（インタビュー・編集 道木加絵、佐野明人）：制御理論とロボット工学の面白さ，日本ロボット学会誌，30 巻 9 号，865-868 頁，(2012)
Tsuneo Yoshikawa (interviewed by Kae Doki and Akihito Sano): “Fun of Researchon Control Theory and Robotics,” Journal of the Robotics Society of Japan, vol.30,
no.9, pp.865-868 (2012) (interview article) (in Japanese)[41] 吉川恒夫：力制御，第 6.4 章, 244-250 頁、ロボット制御学ハンドブック(松野文俊ほか編), 近代科学社 (2017)
Tsuneo Yoshikawa: "Force Control," Section 6.4, pp.244-250 of Robot Control
Handbook (eds. Fumitoshi Matsuno, et al.), Kindaikagakusha, (2017) (in Japanese)